2015-2016_Mouserat / Lab1_Test

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Dependencies:   AVEncoder QEI mbed-src-AV

Files at this revision

API Documentation at this revision

Revision 9:e2feaadf504c, committed 2015-11-20

Comitter:
intgsull
Date:
Fri Nov 20 04:18:00 2015 +0000
Parent:
8:a254346f20aa
Commit message:
IR stuff added

Changed in this revision

AVEncoder.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r a254346f20aa -r e2feaadf504c AVEncoder.lib
--- a/AVEncoder.lib	Wed Nov 18 07:55:13 2015 +0000
+++ b/AVEncoder.lib	Fri Nov 20 04:18:00 2015 +0000
@@ -1,1 +1,1 @@
-http://developer.mbed.org/users/aravindsv/code/AVEncoder/#e0e5901955cd
+https://developer.mbed.org/users/intgsull/code/AVEncoder/#e0e5901955cd

diff -r a254346f20aa -r e2feaadf504c main.cpp
--- a/main.cpp	Wed Nov 18 07:55:13 2015 +0000
+++ b/main.cpp	Fri Nov 20 04:18:00 2015 +0000
@@ -100,7 +100,7 @@
 void stop();
 void moveForward();
 void turn();
-
+void irReset();
 
 //irPID function to not crash into stuff 
 
@@ -127,14 +127,12 @@
  eRS = 1;  
  if(rLS > leftWall && rRS > rightWall)//walls on both sides
     {  
-        leftDistance = rLS;
-        rightDistance = rRS;
-        irError = rightDistance; //– leftDistance – irOffset;
-        irError -= leftDistance;
-        irError -= irOffset;
+        //leftDistance = rLS;
+//        rightDistance = rRS;
+        irError = rRS-rLS-irOffset; //– leftDistance – irOffset;
         
-        irErrorD = irError;
-        irErrorD -= oldirError;//(irError – oldirError);
+        irErrorD = irError-oldirError;
+        //irErrorD -= oldirError;//(irError – oldirError);
         
         irErrorI += irError;
     }        
@@ -375,7 +373,7 @@
 {
     mouse_state = TURNING; 
     float angle = 0;
-    while (angle < 0.9)
+    while (angle < 0.90)
     {
         float gyro_val = _gyro.read() - gyro_offset;
         angle += gyro_val;
@@ -387,4 +385,11 @@
         motor2_forward = 0;
         motor2_reverse = 0.5;
     }    
-}
\ No newline at end of file
+}
+void irReset() //maybe split resets
+{
+    eRF = 0;
+    eRS = 0;
+    eLF = 0;
+    eRF = 0;
+    }
\ No newline at end of file