ManualControl
Dependencies: TPixy-Interface
Fork of MbedOS_Robot by
Revision 16:58ec2b891a25, committed 2018-03-11
- Comitter:
- asobhy
- Date:
- Sun Mar 11 00:37:58 2018 +0000
- Parent:
- 15:cf67f83d5409
- Child:
- 17:1184df616383
- Child:
- 24:e88753f090b8
- Commit message:
- final tuning of the first subsystem done
Changed in this revision
--- a/CameraThread.cpp Sat Mar 03 04:47:26 2018 +0000 +++ b/CameraThread.cpp Sun Mar 11 00:37:58 2018 +0000 @@ -89,6 +89,7 @@ blocksR = pixyR.getBlocks(); if (blocksR) { + // signature 0 is cloudy day // signature 1 is indoor lighting
--- a/Drivers/PiController.cpp Sat Mar 03 04:47:26 2018 +0000 +++ b/Drivers/PiController.cpp Sun Mar 11 00:37:58 2018 +0000 @@ -80,9 +80,7 @@ int32_t uS; setpointR_mutex.lock(); - setpointL_mutex.lock(); e = SaturatingSubtract(setp, dP); // e is the velocity error - setpointL_mutex.unlock(); setpointR_mutex.unlock(); xTemp = SaturatingAdd(xState, e); @@ -121,11 +119,9 @@ int32_t uIntegral; int32_t uS; - setpointR_mutex.lock(); setpointL_mutex.lock(); e = SaturatingSubtract(setp, dP); // e is the velocity error setpointL_mutex.unlock(); - setpointR_mutex.unlock(); xTemp = SaturatingAdd(xState, e);
--- a/PiControlThread.cpp Sat Mar 03 04:47:26 2018 +0000 +++ b/PiControlThread.cpp Sun Mar 11 00:37:58 2018 +0000 @@ -40,10 +40,10 @@ void PeriodicInterruptISR(void); // steering gain -int Ks = 0.5; +float Ks = 0.15; // distance gain -int Kd = 4; +float Kd = 10; // overall robot required speed int Setpoint;