Revision 13:521d6c6e7042, committed 2019-04-29

Comitter:

UditSrivastav

Date:

Mon Apr 29 09:40:30 2019 +0000

Parent:

12:11d203351eb0

Commit message:

Anythign um

Changed in this revision

--- a/PID.h	Mon Apr 29 00:57:32 2019 +0000
+++ b/PID.h	Mon Apr 29 09:40:30 2019 +0000
@@ -82,6 +82,13 @@
         return   prevControlAction;
     }
     
+    void reset()
+    {
+        prevControlAction = 0;
+        PrevPrevErr = 0;
+        PrevErr = 0;
+    }
+    
 };
 
 //(((temp-inMin)/(inMax - inMin))*(outMax-outMin))+outMin
\ No newline at end of file

--- a/Robot.h	Mon Apr 29 00:57:32 2019 +0000
+++ b/Robot.h	Mon Apr 29 09:40:30 2019 +0000
@@ -173,13 +173,15 @@
             sensorNumber = 0;
             if (endOfLineDetection < 5)
             {
-                AF = 0.425f;
+                AF = 0.5f;
                 adjustRbtAngularVelocity(lineVoltages[lvIndex%numberOfSamples]);
                 lvIndex++;
             }
             else
             {
-               stopMovement(); 
+               stopMovement();
+               rightWheel->resetPID();
+               leftWheel->resetPID();
             }
         endOfLineDetection = 0;
         }
@@ -187,10 +189,13 @@
     
     void turn180()
     {
+        stopMovement();
+        rightWheel->resetPID();
+        leftWheel->resetPID();
         updater.detach();
         rightWheel->adjustAngularVelocity(rightWheel->returnMaxAngularVel()*0.3f);
         leftWheel->adjustAngularVelocity(rightWheel->returnMaxAngularVel()*-0.3f);
-        timeToStop.attach(callback(this, &Robot::reAttach),1.1f);
+        timeToStop.attach(callback(this, &Robot::reAttach),1.0f);
         state = 'S';
     }
     

--- a/SensorControl/lineSensor.h	Mon Apr 29 00:57:32 2019 +0000
+++ b/SensorControl/lineSensor.h	Mon Apr 29 09:40:30 2019 +0000
@@ -9,7 +9,7 @@
     Timeout sampler;
     
     public:
-    float static const sampleTime = 0.00004f;
+    float static const sampleTime = 0.00009f;
     
     lineSensor(PinName E, PinName R):emitter(E), receiver(R)
     {   

--- a/WheelControl/Wheel.h	Mon Apr 29 00:57:32 2019 +0000
+++ b/WheelControl/Wheel.h	Mon Apr 29 09:40:30 2019 +0000
@@ -60,6 +60,11 @@
         return angularVelocity;
     }
     
+    void resetPID()
+    {
+        controller.reset();
+    }
+    
     //only called once during initialization to calculate max angular velocity 
     //dir = direction, do opposite for each wheel just so your buggy doesn't move FORWARD but rather rotates
     void init(int dir)