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ManualControl
Dependencies: TPixy-Interface
Fork of MbedOS_Robot_Team by
Diff: ui.cpp
- Revision:
- 5:b29220d29022
- Parent:
- 4:417e475239c7
--- a/ui.cpp Fri Feb 09 18:37:11 2018 +0000 +++ b/ui.cpp Fri Feb 09 20:26:04 2018 +0000 @@ -23,6 +23,7 @@ int16_t position; +bool start_counting = false; /****************************************************************************** @@ -140,7 +141,8 @@ if ( setpoint < 506 ) { //setpoint = setpoint + SPEED_STEP; - setpoint = 400; + setpoint = 420; + start_counting = true; } setpoint_mutex.unlock(); @@ -191,8 +193,12 @@ //bluetooth.printf("\r\nPos: %d, dP: %d, dT: %d, Kp: %f, Ki: %f, vel: %d, e: %d", position, dPosition, dTime, Kp, Ki, vel, e); - bluetooth.printf("\r\ndP: %d, vel: %d, Kp: %f, Ki: %f, e: %d, xState: %d", dPosition, vel, Kp, Ki, e, xState); + //bluetooth.printf("\r\ndP: %d, vel: %d, Kp: %f, Ki: %f, e: %d, xState: %d", dPosition, vel, Kp, Ki, e, xState); //bluetooth.printf("\r\ne: %d, Pos: %d, dP: %d, xState: %d, u: %d, dT: %d", e, position, dPosition, xState, u, dTime); + bluetooth.printf("\r\n%d", dPosition); + + + }