Diff: ui.cpp

Revision:

4:417e475239c7

Parent:

2:ca2a7430739b

Child:

5:b29220d29022

Child:

6:e7ce340fe91e

diff -r 4def4ca68910 -r 417e475239c7 ui.cpp
--- a/ui.cpp	Sat Feb 03 00:48:47 2018 +0000
+++ b/ui.cpp	Fri Feb 09 18:37:11 2018 +0000
@@ -60,6 +60,7 @@
 /******************************************************************************
                            User interface
 ******************************************************************************/
+/*
 void consoleUI(void)
 {
     if (bluetooth.readable()) {
@@ -113,12 +114,12 @@
     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);
     
 }
-
+*/
 /******************************************************************************
                            User interface 2
 ******************************************************************************/
 
-void consoleUI2(void)
+void consoleUI(void)
 {
      
     if (bluetooth.readable()) {
@@ -139,7 +140,7 @@
             if ( setpoint < 506 ) 
             {
                 //setpoint = setpoint + SPEED_STEP;
-                setpoint = 200;
+                setpoint = 400;
             }
             setpoint_mutex.unlock();
 
@@ -154,7 +155,7 @@
             setpoint_mutex.lock();
             if (setpoint > -560) 
             {
-                setpoint = -200;
+                setpoint = -400;
                 //setpoint = setpoint - SPEED_STEP;
             }
                 
@@ -163,21 +164,21 @@
             // display speed
             bluetooth.printf("\r\n %5d", setpoint);
         }
-        else if (x=='e')
+        else if (x=='i')
         {
-            Ki = Ki + 0.005;
+            Ki = Ki + 0.001;
         }
-        else if (x=='d')
+        else if (x=='k')
         {
-            Ki = Ki - 0.005;
+            Ki = Ki - 0.001;
         }
-        else if (x=='t')
+        else if (x=='o')
         {
-            Kp = Kp + 0.05;
+            Kp = Kp + 0.01;
         }
-        else if (x=='g')
+        else if (x=='l')
         {
-            Kp = Kp - 0.05;    
+            Kp = Kp - 0.01;    
         }
         
         // error wrong input