Diff: main.cpp

Revision:

5:43aa136aecda

Parent:

4:64d4fdf5437c

Child:

6:656fb0834a1a

diff -r 64d4fdf5437c -r 43aa136aecda main.cpp
--- a/main.cpp	Wed Oct 31 12:10:43 2018 +0000
+++ b/main.cpp	Wed Oct 31 12:44:47 2018 +0000
@@ -12,7 +12,7 @@
 const double Kp = 10.0;                     // PID proportional
 const double Ki = 0.1;                      // PID integral
 const double Kd = 0.5;                      // PID differential
-const double motor_threshold = 0.0174533;   // One degree
+const double motor_threshold = 0.5*0.0174533;   // One degree
 
 Ticker motor_calib1;                        // Ticker for motor1 calibration
 Ticker motor_calib2;                        // Ticker for motor2 calibration
@@ -21,69 +21,64 @@
 float motor_angle2 = 2;
 float time_passed_in_this_state1 = 0;       // Time passed in the final state of motor 1
 float time_passed_in_this_state2 = 0;       // Time passed in the final state of motor 2
+float last_angle1 = -2;                     // Last angle
+float last_angle2 = -2;
 
 void Motor1_Calibration()
 {   
-    float current_motor1 = motor1.get_current_angle();
-    if (current_motor1 - motor_threshold <= motor_angle1 && motor_angle1 <= current_motor1 + motor_threshold)     // If the motor angle is within a margin of the current motor angle
+    float current_angle1 = motor1.get_current_angle();
+    if (current_angle1 - motor_threshold <= last_angle1 && last_angle1 <= current_angle1 + motor_threshold)     // If the motor angle is within a margin of the current motor angle
     {
         time_passed_in_this_state1++;
-        calibLED1 = 0;                              // LED turns blue
-        wait(0.1f);
-        calibLED1 = 1;
+        calibLED1 = !calibLED1;                              // LED turns blue
     }
     else
     {
-        motor_angle1 = motor1.get_current_angle();
-        motor_angle1 = motor_angle1 - 5*motor_threshold;    // Subtracting five degree angle from the current angle
+        motor_angle1 = current_angle1;
+        motor_angle1 = motor_angle1 - 30*motor_threshold;    // Subtracting five degree angle from the current angle
         motor1.set_target_angle(motor_angle1); 
         time_passed_in_this_state1 = 0;            // Set time passed in this state back to zero
-        calibLED2 = 0;                              // LED turns red
-        wait(0.1f);
-        calibLED2 = 1;
+        calibLED2 = !calibLED2;                              // LED turns red
     }
     
     if (time_passed_in_this_state1 >= 10)           // After 5 seconds have passed (10 times Ticker motor_calib)
     {
         motor1.define_current_angle_as_x_radians(0.785398); // Defines beginstate motor 2 as -42 degrees
         motor_calib1.detach();                      // Stop looping the function
-        calibLED3 = 0;                              // LED becomes red (purple if both motors are calibrated)
-        wait(0.1f);
-        calibLED3 = 1;
+        calibLED3 = !calibLED3;                              // LED becomes red (purple if both motors are calibrated)
     }
+
+    last_angle1 = current_angle1;
 }
 
 void Motor2_Calibration()
 {   
-    float current_motor2 = motor2.get_current_angle();
-    if (current_motor2 - motor_threshold <= motor_angle2 && motor_angle2 <= current_motor2 + motor_threshold)     // If the motor angle is within a margin of the current motor angle
+    float current_angle2 = motor2.get_current_angle();
+    if (current_angle2 - motor_threshold <= last_angle2 && last_angle2 <= current_angle2 + motor_threshold)     // If the motor angle is within a margin of the current motor angle
     {
         time_passed_in_this_state2++;
-        calibLED1 = 0;                              // LED becomes blue
-        wait(0.1f);
-        calibLED1 = 1;
+        calibLED1 = !calibLED1;                              // LED turns blue
     }
     else
     {
-        motor_angle2 = motor2.get_current_angle();
-        motor_angle2 = motor_angle2 - 5*motor_threshold;    // Subtracting five degree angle from the current angle
+        motor_angle2 = current_angle2;
+        motor_angle2 = motor_angle2 - 30*motor_threshold;    // Subtracting five degree angle from the current angle
         motor2.set_target_angle(motor_angle2); 
         time_passed_in_this_state2 = 0;            // Set time passed in this state back to zero
-        calibLED2 = 0;
-        wait(0.1f);
-        calibLED2 = 1;
+        calibLED2 = !calibLED2;                              // LED turns red
     }
     
     if (time_passed_in_this_state2 >= 10)           // After 5 seconds have passed (10 times Ticker motor_calib)
     {
         motor2.define_current_angle_as_x_radians(-0.733038); // Defines beginstate motor 2 as -42 degrees
         motor_calib2.detach();                      // Stop looping the function
-        calibLED3 = 0;                              // LED becomes red (purple if both motors are calibrated)
-        wait(0.1f);
-        calibLED3 = 1;
+        calibLED3 = !calibLED3;                              // LED becomes red (purple if both motors are calibrated)
     }
+
+    last_angle2 = current_angle2;
 }
 
+
 int main()
 {
     calibLED1 = 1;
@@ -93,7 +88,7 @@
     motor2.set_pid_k_values(Kp, Ki, Kd);
     motor1.start(pid_period);               // Attach PID sample time
     motor2.start(pid_period);
-    motor_calib1.attach(Motor1_Calibration,0.5);    // Ticker for motor calibration fucntion
-    motor_calib2.attach(Motor2_Calibration,0.5);
+    motor_calib1.attach(Motor1_Calibration,0.2);    // Ticker for motor calibration fucntion
+    motor_calib2.attach(Motor2_Calibration,0.2);
     while (true) {}                         // Empty while loop to keep function from stopping
 }
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