ManualControl
Dependencies: TPixy-Interface
Fork of MbedOS_Robot by
Revision 11:9135e5bc2fcf, committed 2018-03-03
- Comitter:
- asobhy
- Date:
- Sat Mar 03 00:08:16 2018 +0000
- Parent:
- 10:8919b1b76243
- Child:
- 12:172c448a359e
- Commit message:
- vision test motors error
Changed in this revision
--- a/CameraThread.cpp Fri Mar 02 23:37:31 2018 +0000 +++ b/CameraThread.cpp Sat Mar 03 00:08:16 2018 +0000 @@ -65,7 +65,7 @@ DistanceError=0; CameraId = osThreadCreate(osThread(CameraThread), NULL); - CameraPeriodicInt.attach(&CameraPeriodicInterruptISR, 0.02); // 20ms sampling rate - 50fps + CameraPeriodicInt.attach(&CameraPeriodicInterruptISR, 0.5); // 500ms sampling rate }
--- a/PiControlThread.cpp Fri Mar 02 23:37:31 2018 +0000 +++ b/PiControlThread.cpp Sat Mar 03 00:08:16 2018 +0000 @@ -89,11 +89,6 @@ } - - - - - /******************************************************************************* * @brief This is the PI controller thread. It reads several values from the * FPGA such as speed, time and other sensors data @@ -128,7 +123,7 @@ // If distance increase then speed should increase. // if object is moving away from the the robot increase robot speed - if(DistanceError > 0) + /* if(DistanceError > 0) { Setpoint = (Kd*DistanceError); } @@ -140,7 +135,7 @@ setpointR = Setpoint + (Ks*SteeringError); setpointL = Setpoint - (Ks*SteeringError); - + */ U_right = PiControllerR(setpointR,sensors.dp_right); U_left = PiControllerL(setpointL,sensors.dp_left);
--- a/main.cpp Fri Mar 02 23:37:31 2018 +0000 +++ b/main.cpp Sat Mar 03 00:08:16 2018 +0000 @@ -34,7 +34,7 @@ while(1) { - //consoleUI(); + consoleUI(); Thread::wait(500); // Go to sleep for 500 ms } }