Diff: Robot.h

Revision:

6:477382219bcf

Parent:

5:f1613df66ceb

Child:

7:cb07cdb35b6c

--- a/Robot.h	Mon Mar 25 22:42:31 2019 +0000
+++ b/Robot.h	Tue Mar 26 16:19:47 2019 +0000
@@ -4,7 +4,7 @@
     int static const numberOfSamples = 100;
     int static const numberOfSensors = 6;
     //attenuation factor
-    float static const AF = 0.8f;
+    float static const AF = 0.3f;
     Wheel* leftWheel;
     Wheel* rightWheel;
     lineSensor* sensorArray[numberOfSensors];
@@ -12,15 +12,21 @@
     float lineVoltages[numberOfSamples];
     int lvIndex;
     int sensorNumber;
+    
     Ticker updater;
+    
     int endOfLineDetection;
+    float Reflec;
     
     float RoboticAngularVelocity;
     
     public:
     
-    Robot(Wheel* LW, Wheel* RW, lineSensor* SA[]) : controller(10000.0f, 0.0f, 0.0f, 0.0003f)
+    Robot(Wheel* LW, Wheel* RW, lineSensor* SA[]) : controller(2.0f, 0.0f, 0.0f, 0.0006f)
     {
+        updater.detach();
+        
+        Reflec = 0;        
         lvIndex = 0;
         sensorNumber = 0;
         sensorArray[0] = SA[0];
@@ -36,9 +42,6 @@
         //controller will output a value between +- max speed of wheels
         
         controller.assignLimitAddress(rightWheel->returnMinAVptr(),leftWheel->returnMaxAVptr());
-        controller.setInputLimits(-300.0f,300.0f);
-        controller.setSetPoint(0.0f);
-        updater.attach(callback(this, &Robot::robotUpdates),0.00005f);
     };
     
     float calculateTranslationalVelocity()
@@ -76,6 +79,7 @@
     void robotUpdates(void) //sampling rate the ticker is attached I.E the wheel speed is updated everytime this function is called
         {
             float ambientLight;
+            float reading;
             ambientLight = sensorArray[sensorNumber]->calcLineVoltage();  
             sensorArray[sensorNumber]->sample();
             sensorArray[sensorNumber]->calcLineVoltage();
@@ -122,7 +126,11 @@
     
     void rbtInit()
     {
-        
+    sensorArray[0]->sample();
+    Reflec = sensorArray[0]->calcLineVoltage();
+    controller.setInputLimits(-300.0f,300.0f);
+    controller.setSetPoint(0.0f);
+    updater.attach(callback(this, &Robot::robotUpdates),0.0001f);   
     }
 
 };