Diff: Lab3.cpp

Revision:

6:1d16cc833e0d

Parent:

5:e33e69d4eecf

Child:

7:241bde733699

--- a/Lab3.cpp	Thu Feb 25 17:13:30 2016 +0000
+++ b/Lab3.cpp	Fri Feb 26 21:55:31 2016 +0000
@@ -24,8 +24,8 @@
 //                     GLOBAL VARIABLE DECLARATIONS
 // ********************************************************************
 
-    signed int R_setpoint=0;                // Desired Angular Speed ( rad/sec )
-    signed int L_setpoint=0;
+    signed int R_setpoint;                // Desired Angular Speed ( rad/sec )
+    signed int L_setpoint;
     float R_e;                            // Velocity Error
     float R_u;                            // Control Signal
     float L_e;
@@ -69,7 +69,7 @@
     //Serial
 
     Serial pc(USBTX, USBRX);            // tx and rx for PC serial channel via USB cable
-    Serial Bluetooth(p9,p10);     // Pins tx(p9) , rx(p10) for bluetooth serial channel
+    Serial Bluetooth(p9,p10);           // Pins tx(p9) , rx(p10) for bluetooth serial channel
 
     //SPI
 
@@ -110,9 +110,9 @@
     int ID = DE0.write(SpiControlWord);             // SPI Control Word specifies SPI settings
     
     if(ID == 23){                                   // DE0 ID 23 (0x0017)
-        printf("\n\r >> DE0 Initialized.\n\r");}
+        Bluetooth.printf("\n\r >> DE0 Initialized.\n\r");}
     else{
-        printf("\n\r >> Failed to initialize DE0 board.\n\r");}
+        Bluetooth.printf("\n\r >> Failed to initialize DE0 board.\n\r");}
 }
 
 // ***************************************************
@@ -163,10 +163,10 @@
    
    signed int input;
    
-   printf("\n\r Please enter a desired angular speed for the left motor (rad/sec) >> ");
-   scanf("%i",&input);
+   Bluetooth.printf("\n\r Please enter a desired angular speed for the left motor (rad/sec) >> ");
+   Bluetooth.scanf("%i",&input);
    
-   printf("\n\r Your setpoint is >> %i\n\r",input);
+   Bluetooth.printf("\n\r Your setpoint is >> %i\n\r",input);
    
    return input;
 
@@ -180,10 +180,10 @@
       
    signed int input;
    
-   printf("\n\r Please enter a desired angular speed for the right motor (rad/sec) >> ");
-   scanf("%i",&input);
+   Bluetooth.printf("\n\r Please enter a desired angular speed for the right motor (rad/sec) >> ");
+   Bluetooth.scanf("%i",&input);
    
-   printf("\n\r Your setpoint is >> %i\n\r",input);
+   Bluetooth.printf("\n\r Your setpoint is >> %i\n\r",input);
    
    return input;
 
@@ -323,6 +323,8 @@
     R_setpoint = InputRight();
     
    // Display Global Variables to Console
+   Bluetooth.printf("\n\r ========= LEFT =======       ========= RIGHT =======");
+   Bluetooth.printf("\n\r   US    VE    IS   CS          US    VE    IS   CS "); 
    
    while(1){
        
@@ -332,17 +334,8 @@
        float R_error_t = R_e;
        float R_u_t = R_u;
        
-       printf("\n\r LEFT");
-       printf("\n\r US : %i",L_setpoint);      // User defined setpoint
-       printf("\n\r VE : %2.2f",L_error_t);    // Displays signed Velocity Error
-       printf("\n\r IS : %i",L_integrator);  // Displays currently state of the left integrator
-       printf("\n\r CS : %2.4f",L_u_t);        // Displays control signal
-       printf("\n\r RIGHT");
-       printf("\n\r US : %i",R_setpoint);      // User defined setpoint
-       printf("\n\r VE : %2.2f",R_error_t);    // Displays signed Velocity Error
-       printf("\n\r IS : %i",R_integrator);  // Displays currently state of the left integrator
-       printf("\n\r CS : %2.4f",R_u_t);        // Displays control signal
-       printf("\n\r\n\r");
+
+       Bluetooth.printf("\n\r   %i    %2.1f  %i  %2.2f          %i    %2.1f  %i  %2.2f",L_setpoint,L_error_t,L_integrator,L_u_t,R_setpoint,R_error_t,R_integrator,R_u_t);
        wait(0.75);
    }