Diff: main.cpp

Revision:

3:40333f38771d

Parent:

2:82a11e992619

Child:

4:112f3d35bd2d

--- a/main.cpp	Tue Nov 24 04:13:10 2015 +0000
+++ b/main.cpp	Tue Nov 24 05:24:55 2015 +0000
@@ -28,13 +28,13 @@
 DigitalOut eLS(PC_2);
 AnalogIn rLS(PC_1);
 
-//Right Front IR
-DigitalOut eRF(PC_12);
-AnalogIn rRF(PA_4);
+//Right Side IR
+DigitalOut eRS(PC_12);
+AnalogIn rRS(PA_4);
 
-//Right Side IR
-DigitalOut eRS(PC_15);
-AnalogIn rRS(PB_0);
+//Right Front IR
+DigitalOut eRF(PC_15);
+AnalogIn rRF(PB_0);
 
 DigitalOut myled(LED1);
 
@@ -47,29 +47,29 @@
 volatile float line_accumulator = 0;
 volatile float line_decayFactor = 1;
 volatile float enco_accumulator = 0;
-volatile float enco_decayFactor = 1.2;
+volatile float enco_decayFactor = 2;
 volatile float gyro_accumulator = 0;
-volatile float gyro_decayFactor = 1.2;
+volatile float gyro_decayFactor = 1;
 
-volatile float set_speed = 0.5;
-volatile float left_speed = 0.5;
-volatile float right_speed = 0.5;
+volatile float set_speed = 1;
+volatile float left_speed = 2;
+volatile float right_speed = 2;
 
-const float left_max_speed = 6; // max speed is 6 encoder pulses per ms.
-const float right_max_speed = 6.2; 
+const float left_max_speed = 5.5; // max speed is 6 encoder pulses per ms.
+const float right_max_speed = 5.7; 
 
 const float gyro_propo = 6.5;
 const float gyro_integ = 0;
 const float gyro_deriv = 10;
 
-const float enco_propo = .0005;
-const float enco_integ = 0;
-const float enco_deriv = .0002;
+const float enco_propo = 1;
+const float enco_integ = 3;//1;
+const float enco_deriv = 40;//.0002;
 
-const float spin_enco_weight = 0.75;
+const float spin_enco_weight = 1;
 const float spin_gyro_weight = 1 - spin_enco_weight;
 
-const float frontWall = 0.7; //need to calibrate this threshold to a value where mouse can stop in time
+const float frontWall = 0.25; //need to calibrate this threshold to a value where mouse can stop in time
 //something like this may be useful 
 
 volatile float enco_error;
@@ -216,9 +216,13 @@
 
 int main() {
     setup();
+    
+   
     while(1) {
-        
-        pc.printf("enco_pid: %f, gyro_pid: %f, w_error: %f\r\n", enco_pid, gyro_pid, w_error);
+//        
+//        pc.printf("left pulss %f, right pulses %f \r\n", l_enco.getPulses(), r_enco.getPulses());
+//        //wait(1);
+    }
+  //  pc.printf("left pulses %d, right pulses %d \r\n", l_enco.getPulses(), r_enco.getPulses());    //encoder testing 
         //wait(1);
-    }
 }