Diff: main.cpp

Revision:

6:38cc8e010406

Parent:

5:295fe3425a73

--- a/main.cpp	Fri Apr 24 15:24:30 2020 +0000
+++ b/main.cpp	Fri Apr 24 16:06:47 2020 +0000
@@ -115,7 +115,6 @@
                                      if(cF > 0.5){
                                          cF = 0.5;
                                      }
-                                     //Thread::wait(20);
                                 }
                                 else if(edit == editRear)
                                 {
@@ -123,7 +122,6 @@
                                      if(cR > 0.5){
                                          cR = 0.5;
                                      }
-                                     //Thread::wait(20);
                                 }
                                 else{
                                     cF += 0.05;
@@ -135,7 +133,6 @@
                                      if(cF > 0.5){
                                          cF = 0.5;
                                      }
-                                     //Thread::wait(20);
                                 }
                             }
                             break;
@@ -147,7 +144,6 @@
                                      if(cF < 0){
                                          cF = 0;
                                      }
-                                     //Thread::wait(20);
                                 }
                                 else if(edit == editRear)
                                 {
@@ -155,7 +151,6 @@
                                      if(cR < 0){
                                          cR = 0;
                                      }
-                                     //Thread::wait(20);
                                 }
                                 else{
                                     cF -= 0.05;
@@ -167,7 +162,6 @@
                                      if(cF < 0){
                                          cF = 0;
                                      }
-                                     //Thread::wait(20);
                                 }
                             }
                             break;
@@ -201,17 +195,9 @@
 
 void blueTX()
 {
-    //float lastF = 0;
-    //float last R = 0;
-    //statetype lastState = Off;
-    //editState lastEdit = editALL;
-    //blue.printf("Mode: HOLD........||Front:%3.0f%%||........||Rear:%3.0f%%||\n", ceil(cF/0.5 * 100), ceil(cR/0.5 * 100));
-    
     while(1)
     {
-        //Off = 0, Testing, DRS_Active, Active_Yaw, Active_Roll
         //Send data
-         
         switch (servoState)
         {
             case Off:
@@ -236,23 +222,20 @@
                 blue.printf("....................Mode: DRS ACTIVATED....................\n");
                 break;
             case Active_Yaw:
-                //blue.printf("Mode: ACTIVE-YAW....Yaw:%3.0f deg/s....", YawRate);
                 blue.printf("Mode: ACTIVE-YAW....Yaw:%3.0f deg/s....T:%sF\n", YawRate, t.print());
                 break;
             case Active_Roll:
-                //blue.printf("Mode: ACTIVE-ROLL....Roll: %3.0f deg....", roll);
                 blue.printf("Mode: ACTIVE-ROLL....Roll: %3.0f deg....T:%sF\n", roll, t.print());
                 break;
             default:
                 break;   
-             
         } 
         
-        //blue.printf("Temp: %sºF, Pressure: %sPa\r\n", t.print(),p.print()); 
         Thread::wait(200);
     }
 }
-// IMU - caluclate pitch and roll
+
+// Calculate roll
 float getRoll(float ax, float az)
 {
     float roll_t = atan2(ax, az);
@@ -262,11 +245,9 @@
     return roll_t;
 }
 
-
-// IMU - read and display magnetometer, gyroscope, acceleration values
+// IMU - read IMU gyro and accel data for YawRate and roll
 void getIMUData()
 {
-    
     while(1)
     {
         while(!IMU.gyroAvailable());
@@ -276,34 +257,30 @@
         YawRate = IMU.calcGyro(IMU.gz);
         roll = getRoll(IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.az));
         
-        
-        //sensor.readTemperature(&t);
-        //sensor.readPressure(&p);
-    
         Thread::wait(50);
     }
 } 
 
+// calculate and set servo positions
 void setServos()
 {
 
-    uint32_t testSpeed = 20;
-    float testPrec = 0.05;
-    
-    
+    uint32_t testSpeed = 20;    // thread wait length for movement
+    float testPrec = 0.05;      // amount of movement per iteration 
+     
     while(1)
     {
         switch(servoState)
         {
-            case Off:   //close all flaps
+            case Off:   //close all flaps to set angle
                 servoFR = cF;
                 servoFL = 1 - cF;
                 servoRR = cR;
                 servoRL = 1 - cR;
                 
-                Thread::wait(250);  //longer wait because of Off state
+                Thread::wait(250);  //longer wait because only based on user input changes
                 break;
-            case Testing:
+            case Testing:   //TESTING Mode
                 
                 servoFR = 0;
                 servoFL = 1;
@@ -349,7 +326,7 @@
                 }
                 servoState = Off;
                 break;
-            case DRS_Active:
+            case DRS_Active:    //DRS ACTIVE Mode, opens flaps to pre determined angle 
                 
                 servoFR = 0.25;
                 servoFL = 1 - 0.25;
@@ -359,7 +336,7 @@
                 
                 break;
                 
-            case Active_Yaw:
+            case Active_Yaw:    // ACTIVE YAW mode. automatically adjust flaps based on the speed at which the vehicle turns
                 float tempFront = 0.0;
                 float tempRear = 0.0;
                 float newFront = 0.0;
@@ -414,7 +391,7 @@
                 Thread::wait(25);
                 
                 break;
-            case Active_Roll:
+            case Active_Roll:       // ACTIVE ROLL Mode. automatically set flaps based on how much the vehicle rolls 
                 tempFront = 0.0;
                 tempRear = 0.0;
                 newFront = 0.0;
@@ -495,18 +472,19 @@
         pc.printf("Failed to communicate with LSM9DS1.\n");
     }
 
-    
+    // Can Calibrate IMU if issues arise. 
     //IMU.calibrate(1);
     //IMU.calibrateMag(0);
     
     blue.baud(9600); //set baud rate for UART window
     
+    //START THREADS
     blueRXThread.start(blueRX);
     blueTXThread.start(blueTX);
     IMUThread.start(getIMUData);
     servoThread.start(setServos);
     
-    while(1) {
+    while(1) {  
         sensor.readTemperature(&t);
         Thread::wait(1000);
     }