Diff: ui.cpp

Revision:

2:ca2a7430739b

Parent:

1:3e9684e81312

Child:

4:417e475239c7

--- a/ui.cpp	Sat Feb 03 00:05:08 2018 +0000
+++ b/ui.cpp	Sat Feb 03 00:37:57 2018 +0000
@@ -14,15 +14,16 @@
 char x;
 
 extern int16_t dPosition, dTime;
-
 extern float Ki; 
 extern float Kp;
-
 extern int vel;
+extern int32_t e;
+extern int32_t xState;
+extern int32_t u;
 
 int16_t position;
 
-extern int32_t e;
+
 
 /******************************************************************************
             A function to test blutooth communication
@@ -109,7 +110,7 @@
         }
     }
     position += dPosition;
-    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\nPos: %d, dP: %d, dT: %d, Kp: %f, Ki: %f, vel: %d, e: %d", position, dPosition, xState, dTime, Kp, Ki, vel, e);
     
 }
 
@@ -135,7 +136,7 @@
         // by incrementing u
         else if(x == 'w') {
             setpoint_mutex.lock();
-            if ( setpoint < 703 ) 
+            if ( setpoint < 506 ) 
             {
                 //setpoint = setpoint + SPEED_STEP;
                 setpoint = 200;
@@ -151,7 +152,7 @@
         else if(x == 's') {
 
             setpoint_mutex.lock();
-            if (setpoint > -703) 
+            if (setpoint > -560) 
             {
                 setpoint = -200;
                 //setpoint = setpoint - SPEED_STEP;
@@ -186,7 +187,11 @@
     }   
     
     position += dPosition;
+    
     //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\nKp: %f, Ki: %f, vel: %d, e: %d", 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\ne: %d, Pos: %d, dP: %d, xState: %d, u: %d, dT: %d", e, position, dPosition, xState, u, dTime);
     
 }