EE192 Team 4 / Mbed 2 deprecated Sequential_Timing

One big fixed period control loop

Dependencies:   FastAnalogIn MODSERIAL PID QEI RPCInterface Servo mbed-rtos mbed telemetry PinDetect

Fork of Everything by EE192 Team 4

main.cpp@8:71c39d2f80e2, 2016-04-01 (annotated)

Committer:
vsutardja
Date:
Fri Apr 01 21:41:41 2016 +0000
Revision:
8:71c39d2f80e2
Parent:
7:8229baaf1fbf
Child:
9:10fcf3d0ec2d
Velocity and center telemetry

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsutardja 0:fcf070a88ba0 1 #include "mbed.h"
vsutardja 0:fcf070a88ba0 2 #include "rtos.h"
vsutardja 0:fcf070a88ba0 3 #include "Servo.h"
vsutardja 0:fcf070a88ba0 4 #include "FastAnalogIn.h"
vsutardja 0:fcf070a88ba0 5 #include "PID.h"
vsutardja 0:fcf070a88ba0 6 #include "QEI.h"
vsutardja 0:fcf070a88ba0 7 #include "telemetry.h"
vsutardja 0:fcf070a88ba0 8
vsutardja 0:fcf070a88ba0 9 // =========
vsutardja 0:fcf070a88ba0 10 // Telemetry
vsutardja 0:fcf070a88ba0 11 // =========
vsutardja 7:8229baaf1fbf 12 MODSERIAL telemetry_serial(PTC4, PTC3); // TX, RX
vsutardja 7:8229baaf1fbf 13 telemetry::MbedHal telemetry_hal(telemetry_serial); // Hardware Abstraction Layer
vsutardja 7:8229baaf1fbf 14 telemetry::Telemetry telemetry_obj(telemetry_hal); // Telemetry
vsutardja 7:8229baaf1fbf 15
vsutardja 7:8229baaf1fbf 16 int dec = 0;
vsutardja 7:8229baaf1fbf 17 Timer t;
vsutardja 7:8229baaf1fbf 18 telemetry::Numeric<uint32_t> tele_time_ms(telemetry_obj, "time", "Time", "ms", 0);
vsutardja 7:8229baaf1fbf 19 telemetry::NumericArray<uint16_t, 128> tele_linescan(telemetry_obj, "linescan", "Linescan", "ADC", 0);
vsutardja 8:71c39d2f80e2 20 telemetry::Numeric<float> tele_vel(telemetry_obj, "t_vel", "Velocity", "m/s", 0);
vsutardja 8:71c39d2f80e2 21 telemetry::Numeric<uint32_t> tele_center(telemetry_obj, "t_center", "Center", "", 0);
vsutardja 0:fcf070a88ba0 22
vsutardja 0:fcf070a88ba0 23
vsutardja 0:fcf070a88ba0 24 // =============
vsutardja 0:fcf070a88ba0 25 // Communication
vsutardja 0:fcf070a88ba0 26 // =============
vsutardja 0:fcf070a88ba0 27 Serial pc(USBTX, USBRX); // USB connection
vsutardja 7:8229baaf1fbf 28 //Serial bt(PTC4, PTC3); // BlueSMiRF connection
vsutardja 0:fcf070a88ba0 29 char cmd; // Command
vsutardja 0:fcf070a88ba0 30 char ch;
vsutardja 4:947c3634b649 31 char in[5];
vsutardja 0:fcf070a88ba0 32
vsutardja 0:fcf070a88ba0 33 void communication(void const *args); // Communications
vsutardja 0:fcf070a88ba0 34
vsutardja 0:fcf070a88ba0 35 // =====
vsutardja 0:fcf070a88ba0 36 // Motor
vsutardja 0:fcf070a88ba0 37 // =====
vsutardja 0:fcf070a88ba0 38 PwmOut motor(PTA4); // Enable pin (PWM)
vsutardja 0:fcf070a88ba0 39 int T = 25000; // Frequency
vsutardja 0:fcf070a88ba0 40 float d = 0.0; // Duty cycle
vsutardja 0:fcf070a88ba0 41
vsutardja 0:fcf070a88ba0 42 // =======
vsutardja 0:fcf070a88ba0 43 // Encoder
vsutardja 0:fcf070a88ba0 44 // =======
vsutardja 2:a8adff46eaca 45 const int MVG_AVG = 4;
vsutardja 0:fcf070a88ba0 46 int ppr = 389; // Pulses per revolution
vsutardja 0:fcf070a88ba0 47 QEI qei(PTD3, PTD2, NC, ppr, QEI::X4_ENCODING); // Quadrature encoder
vsutardja 0:fcf070a88ba0 48 float c = 0.20106; // Wheel circumference
vsutardja 0:fcf070a88ba0 49 int prev_pulses = 0; // Previous pulse count
vsutardja 0:fcf070a88ba0 50 int curr_pulses = 0; // Current pulse count
vsutardja 0:fcf070a88ba0 51 float velocity = 0; // Velocity
vsutardja 4:947c3634b649 52 float vel = 0;
vsutardja 2:a8adff46eaca 53 float v_prev[MVG_AVG] = {0};
vsutardja 0:fcf070a88ba0 54
vsutardja 0:fcf070a88ba0 55 // ========
vsutardja 0:fcf070a88ba0 56 // Velocity
vsutardja 0:fcf070a88ba0 57 // ========
vsutardja 8:71c39d2f80e2 58 float Kp = 3.0; // Proportional factor
vsutardja 8:71c39d2f80e2 59 float Ki = 1; // Integral factor
vsutardja 8:71c39d2f80e2 60 float Kd = 0.0001; // Derivative factor
vsutardja 0:fcf070a88ba0 61 float interval = 0.01; // Sampling interval
vsutardja 4:947c3634b649 62 float ref_v = 1.0;
vsutardja 0:fcf070a88ba0 63 PID motor_ctrl(Kp, Ki, Kd, interval); // Motor controller
vsutardja 0:fcf070a88ba0 64
vsutardja 0:fcf070a88ba0 65 // =====
vsutardja 0:fcf070a88ba0 66 // Servo
vsutardja 0:fcf070a88ba0 67 // =====
vsutardja 0:fcf070a88ba0 68 Servo servo(PTA12); // Enable pin (PWM)
vsutardja 0:fcf070a88ba0 69 float a = 88; // Angle
vsutardja 4:947c3634b649 70 float Ks = 0.7;
vsutardja 0:fcf070a88ba0 71
vsutardja 0:fcf070a88ba0 72 // ======
vsutardja 0:fcf070a88ba0 73 // Camera
vsutardja 0:fcf070a88ba0 74 // ======
vsutardja 0:fcf070a88ba0 75 DigitalOut clk(PTD5); // Clock pin
vsutardja 0:fcf070a88ba0 76 DigitalOut si(PTD0); // SI pin
vsutardja 0:fcf070a88ba0 77 FastAnalogIn ao(PTC2); // AO pin
vsutardja 0:fcf070a88ba0 78 Timeout camera_read; // Camera read timeout
vsutardja 0:fcf070a88ba0 79 int t_int = 15000; // Exposure time
vsutardja 0:fcf070a88ba0 80 int img[128]; // Image data
vsutardja 0:fcf070a88ba0 81
vsutardja 0:fcf070a88ba0 82 void readCamera(); // Read data from camera
vsutardja 0:fcf070a88ba0 83
vsutardja 0:fcf070a88ba0 84 // ================
vsutardja 0:fcf070a88ba0 85 // Image processing
vsutardja 0:fcf070a88ba0 86 // ================
vsutardja 0:fcf070a88ba0 87 int max = -1;
vsutardja 3:c57674c348bd 88 float lum_bg = 0;
vsutardja 3:c57674c348bd 89 float contrast = 0;
vsutardja 0:fcf070a88ba0 90 int argmax = 0;
vsutardja 0:fcf070a88ba0 91 int argmin = 0;
vsutardja 0:fcf070a88ba0 92 int temp[128];
vsutardja 4:947c3634b649 93 int center = 64;
vsutardja 0:fcf070a88ba0 94
vsutardja 0:fcf070a88ba0 95 void track(); // Line-tracking steering
vsutardja 0:fcf070a88ba0 96
vsutardja 0:fcf070a88ba0 97 // ================
vsutardja 0:fcf070a88ba0 98 // Functions
vsutardja 0:fcf070a88ba0 99 // ================
vsutardja 0:fcf070a88ba0 100
vsutardja 0:fcf070a88ba0 101 // Communications
vsutardja 7:8229baaf1fbf 102 //void communication(void const *args) {
vsutardja 7:8229baaf1fbf 103 // while (true) {
vsutardja 7:8229baaf1fbf 104 // bt.printf("\r\nPress q to return to this prompt.\r\n");
vsutardja 7:8229baaf1fbf 105 // bt.printf("Available diagnostics:\r\n");
vsutardja 7:8229baaf1fbf 106 // bt.printf(" [0] Velocity\r\n");
vsutardja 7:8229baaf1fbf 107 // bt.printf(" [1] Steering\r\n");
vsutardja 7:8229baaf1fbf 108 // bt.printf(" [2] Change Kp\r\n");
vsutardja 7:8229baaf1fbf 109 // bt.printf(" [3] Change Ki\r\n");
vsutardja 7:8229baaf1fbf 110 // bt.printf(" [4] Change Kd\r\n");
vsutardja 7:8229baaf1fbf 111 // bt.printf(" [5] Change Ks\r\n");
vsutardja 7:8229baaf1fbf 112 // bt.printf(" [6] Change reference velocity\r\n");
vsutardja 7:8229baaf1fbf 113 // cmd = bt.getc();
vsutardja 7:8229baaf1fbf 114 // while (cmd != 'q') {
vsutardja 7:8229baaf1fbf 115 // switch(atoi(&cmd)){
vsutardja 7:8229baaf1fbf 116 // case 0:
vsutardja 7:8229baaf1fbf 117 // bt.printf("Duty cycle: %f, Pulse count: %d, Velocity: %f, Kp: %f, Ki: %f, Kd: %f\r\n", d, curr_pulses, velocity, Kp, Ki, Kd);
vsutardja 7:8229baaf1fbf 118 // break;
vsutardja 7:8229baaf1fbf 119 // case 1:
vsutardja 7:8229baaf1fbf 120 // bt.printf("Servo angle: %f, Track center: %d, t_int: %d\r\n", a, center, t_int);
vsutardja 7:8229baaf1fbf 121 // break;
vsutardja 7:8229baaf1fbf 122 // case 2:
vsutardja 7:8229baaf1fbf 123 // bt.printf("Current: %f, New (5 digits): ", Kp);
vsutardja 7:8229baaf1fbf 124 // for (int i = 0; i < 5; i++) {
vsutardja 7:8229baaf1fbf 125 // in[i] = bt.getc();
vsutardja 7:8229baaf1fbf 126 // bt.putc(in[i]);
vsutardja 7:8229baaf1fbf 127 // }
vsutardja 7:8229baaf1fbf 128 // bt.printf("\r\n");
vsutardja 7:8229baaf1fbf 129 // Kp = atof(in);
vsutardja 7:8229baaf1fbf 130 // motor_ctrl.setTunings(Kp, Ki, Kd);
vsutardja 7:8229baaf1fbf 131 // cmd = 'q';
vsutardja 7:8229baaf1fbf 132 // break;
vsutardja 7:8229baaf1fbf 133 // case 3:
vsutardja 7:8229baaf1fbf 134 // bt.printf("Current: %f, New (5 digits): ", Ki);
vsutardja 7:8229baaf1fbf 135 // for (int i = 0; i < 5; i++) {
vsutardja 7:8229baaf1fbf 136 // in[i] = bt.getc();
vsutardja 7:8229baaf1fbf 137 // bt.putc(in[i]);
vsutardja 7:8229baaf1fbf 138 // }
vsutardja 7:8229baaf1fbf 139 // bt.printf("\r\n");
vsutardja 7:8229baaf1fbf 140 // Ki = atof(in);
vsutardja 7:8229baaf1fbf 141 // motor_ctrl.setTunings(Kp, Ki, Kd);
vsutardja 7:8229baaf1fbf 142 // cmd = 'q';
vsutardja 7:8229baaf1fbf 143 // break;
vsutardja 7:8229baaf1fbf 144 // case 4:
vsutardja 7:8229baaf1fbf 145 // bt.printf("Current: %f, New (5 digits): ", Kd);
vsutardja 7:8229baaf1fbf 146 // for (int i = 0; i < 5; i++) {
vsutardja 7:8229baaf1fbf 147 // in[i] = bt.getc();
vsutardja 7:8229baaf1fbf 148 // bt.putc(in[i]);
vsutardja 7:8229baaf1fbf 149 // }
vsutardja 7:8229baaf1fbf 150 // bt.printf("\r\n");
vsutardja 7:8229baaf1fbf 151 // Kd = atof(in);
vsutardja 7:8229baaf1fbf 152 // motor_ctrl.setTunings(Kp, Ki, Kd);
vsutardja 7:8229baaf1fbf 153 // cmd = 'q';
vsutardja 7:8229baaf1fbf 154 // break;
vsutardja 7:8229baaf1fbf 155 // case 5:
vsutardja 7:8229baaf1fbf 156 // bt.printf("Current: %f, New (5 digits): ", Ks);
vsutardja 7:8229baaf1fbf 157 // for (int i = 0; i < 5; i++) {
vsutardja 7:8229baaf1fbf 158 // in[i] = bt.getc();
vsutardja 7:8229baaf1fbf 159 // bt.putc(in[i]);
vsutardja 7:8229baaf1fbf 160 // }
vsutardja 7:8229baaf1fbf 161 // bt.printf("\r\n");
vsutardja 7:8229baaf1fbf 162 // Ks = atof(in);
vsutardja 7:8229baaf1fbf 163 // cmd = 'q';
vsutardja 7:8229baaf1fbf 164 // break;
vsutardja 7:8229baaf1fbf 165 // case 6:
vsutardja 7:8229baaf1fbf 166 // bt.printf("Current: %f, New (5 digits): ", ref_v);
vsutardja 7:8229baaf1fbf 167 // for (int i = 0; i < 5; i++) {
vsutardja 7:8229baaf1fbf 168 // in[i] = bt.getc();
vsutardja 7:8229baaf1fbf 169 // bt.putc(in[i]);
vsutardja 7:8229baaf1fbf 170 // }
vsutardja 7:8229baaf1fbf 171 // bt.printf("\r\n");
vsutardja 7:8229baaf1fbf 172 // ref_v = atof(in);
vsutardja 7:8229baaf1fbf 173 // motor_ctrl.setSetPoint(ref_v);
vsutardja 7:8229baaf1fbf 174 // cmd = 'q';
vsutardja 7:8229baaf1fbf 175 // break;
vsutardja 7:8229baaf1fbf 176 // }
vsutardja 7:8229baaf1fbf 177 // if (bt.readable()) {
vsutardja 7:8229baaf1fbf 178 // cmd = bt.getc();
vsutardja 7:8229baaf1fbf 179 // }
vsutardja 7:8229baaf1fbf 180 // }
vsutardja 7:8229baaf1fbf 181 // }
vsutardja 7:8229baaf1fbf 182 //}
vsutardja 0:fcf070a88ba0 183
vsutardja 0:fcf070a88ba0 184 // Read data from camera
vsutardja 0:fcf070a88ba0 185 void read_camera() {
vsutardja 0:fcf070a88ba0 186 // Start data transfer
vsutardja 0:fcf070a88ba0 187 si = 1;
vsutardja 0:fcf070a88ba0 188 wait_us(1);
vsutardja 0:fcf070a88ba0 189 clk = 1;
vsutardja 0:fcf070a88ba0 190 wait_us(1);
vsutardja 0:fcf070a88ba0 191 si = 0;
vsutardja 0:fcf070a88ba0 192 wait_us(1);
vsutardja 0:fcf070a88ba0 193
vsutardja 0:fcf070a88ba0 194 // Read camera data
vsutardja 0:fcf070a88ba0 195 for (int i = 0; i < 128; i++) {
vsutardja 0:fcf070a88ba0 196 clk = 0;
vsutardja 0:fcf070a88ba0 197 img[i] = ao.read_u16();
vsutardja 7:8229baaf1fbf 198 tele_linescan[i] = img[i];
vsutardja 0:fcf070a88ba0 199 clk = 1;
vsutardja 0:fcf070a88ba0 200 wait_us(1);
vsutardja 0:fcf070a88ba0 201 }
vsutardja 0:fcf070a88ba0 202 clk = 0;
vsutardja 0:fcf070a88ba0 203
vsutardja 0:fcf070a88ba0 204 // Update servo angle
vsutardja 0:fcf070a88ba0 205 track();
vsutardja 0:fcf070a88ba0 206
vsutardja 0:fcf070a88ba0 207 // Set next frame exposure time
vsutardja 3:c57674c348bd 208 // camera_read.attach_us(&read_camera, t_int);
vsutardja 0:fcf070a88ba0 209 }
vsutardja 0:fcf070a88ba0 210
vsutardja 0:fcf070a88ba0 211 // Find line center from image
vsutardja 0:fcf070a88ba0 212 // Take two-point moving average to smooth the data
vsutardja 0:fcf070a88ba0 213 // Find indices where max and min of smoothed data are attained
vsutardja 0:fcf070a88ba0 214 // Calculate and return midpoint of argmax and argmin
vsutardja 0:fcf070a88ba0 215 void track() {
vsutardja 0:fcf070a88ba0 216 max = -1;
vsutardja 3:c57674c348bd 217 lum_bg = 0;
vsutardja 0:fcf070a88ba0 218 argmax = 0;
vsutardja 0:fcf070a88ba0 219 argmin = 0;
vsutardja 0:fcf070a88ba0 220 for (int i = 0; i < 107; i++) {
vsutardja 0:fcf070a88ba0 221 if (img[i+11] > max) {
vsutardja 0:fcf070a88ba0 222 max = img[i+11];
vsutardja 0:fcf070a88ba0 223 }
vsutardja 0:fcf070a88ba0 224 if (i == 126) {
vsutardja 0:fcf070a88ba0 225 temp[i-1] = (img[i+11] + img[i+1+11]) / 2 - temp[i-1];
vsutardja 0:fcf070a88ba0 226 if (temp[i-1] > temp[argmax]) {
vsutardja 0:fcf070a88ba0 227 argmax = i - 1;
vsutardja 0:fcf070a88ba0 228 }
vsutardja 0:fcf070a88ba0 229 if (temp[i-1] < temp[argmin]) {
vsutardja 0:fcf070a88ba0 230 argmin = i - 1;
vsutardja 0:fcf070a88ba0 231 }
vsutardja 0:fcf070a88ba0 232 } else {
vsutardja 0:fcf070a88ba0 233 temp[i] = (img[i+11] + img[i+1+11]) / 2;
vsutardja 0:fcf070a88ba0 234 if (i > 0) {
vsutardja 0:fcf070a88ba0 235 temp[i-1] = temp[i] - temp[i-1];
vsutardja 0:fcf070a88ba0 236 if (temp[i-1] > temp[argmax]) {
vsutardja 0:fcf070a88ba0 237 argmax = i - 1;
vsutardja 0:fcf070a88ba0 238 }
vsutardja 0:fcf070a88ba0 239 if (temp[i-1] < temp[argmin]) {
vsutardja 0:fcf070a88ba0 240 argmin = i - 1;
vsutardja 0:fcf070a88ba0 241 }
vsutardja 0:fcf070a88ba0 242 }
vsutardja 0:fcf070a88ba0 243 }
vsutardja 0:fcf070a88ba0 244 }
vsutardja 0:fcf070a88ba0 245
vsutardja 4:947c3634b649 246 for (int i = 0; i < 10; i++) {
vsutardja 4:947c3634b649 247 lum_bg = lum_bg + img[64 - 4 - i] / 20.0 + img[64 + 4 + i] / 20.0;
vsutardja 3:c57674c348bd 248 }
vsutardja 3:c57674c348bd 249
vsutardja 3:c57674c348bd 250 contrast = (max - lum_bg) / lum_bg;
vsutardja 3:c57674c348bd 251
vsutardja 4:947c3634b649 252 // if (contrast < 1.5) {
vsutardja 3:c57674c348bd 253 // Underexposed
vsutardja 4:947c3634b649 254 if (max < 60000) {
vsutardja 4:947c3634b649 255 t_int = t_int + 0.15 * (60000 - max);
vsutardja 3:c57674c348bd 256 }
vsutardja 3:c57674c348bd 257 // Overexposed
vsutardja 3:c57674c348bd 258 if (lum_bg > 25000) {
vsutardja 4:947c3634b649 259 t_int = t_int - 0.15 * (lum_bg - 25000);
vsutardja 3:c57674c348bd 260 }
vsutardja 4:947c3634b649 261 // }
vsutardja 3:c57674c348bd 262
vsutardja 0:fcf070a88ba0 263 if (max > 43253) {
vsutardja 0:fcf070a88ba0 264 center = (argmax + argmin + 2 + 11) / 2;
vsutardja 8:71c39d2f80e2 265 tele_center = center;
vsutardja 4:947c3634b649 266 a = 88 + (64 - center) * Ks;
vsutardja 0:fcf070a88ba0 267 servo = a / 180;
vsutardja 0:fcf070a88ba0 268 }
vsutardja 3:c57674c348bd 269
vsutardja 3:c57674c348bd 270 camera_read.attach_us(&read_camera, t_int);
vsutardja 0:fcf070a88ba0 271 }
vsutardja 0:fcf070a88ba0 272
vsutardja 0:fcf070a88ba0 273 // ====
vsutardja 0:fcf070a88ba0 274 // Main
vsutardja 0:fcf070a88ba0 275 // ====
vsutardja 0:fcf070a88ba0 276 int main() {
vsutardja 7:8229baaf1fbf 277 t.start();
vsutardja 2:a8adff46eaca 278
vsutardja 0:fcf070a88ba0 279 // Initialize motor
vsutardja 0:fcf070a88ba0 280 motor.period_us(T);
vsutardja 0:fcf070a88ba0 281 motor = 1.0 - d;
vsutardja 0:fcf070a88ba0 282
vsutardja 0:fcf070a88ba0 283 // Initialize servo
vsutardja 0:fcf070a88ba0 284 servo.calibrate(0.001, 45.0);
vsutardja 0:fcf070a88ba0 285 servo = a / 180.0;
vsutardja 0:fcf070a88ba0 286
vsutardja 7:8229baaf1fbf 287 telemetry_serial.baud(115200);
vsutardja 7:8229baaf1fbf 288 telemetry_serial.printf("t_h\r\n");
vsutardja 7:8229baaf1fbf 289 telemetry_obj.transmit_header();
vsutardja 7:8229baaf1fbf 290
vsutardja 0:fcf070a88ba0 291 // Initialize & start camera
vsutardja 0:fcf070a88ba0 292 clk = 0;
vsutardja 3:c57674c348bd 293 read_camera();
vsutardja 0:fcf070a88ba0 294
vsutardja 0:fcf070a88ba0 295 // Initialize motor controller
vsutardja 0:fcf070a88ba0 296 motor_ctrl.setInputLimits(0.0, 10.0);
vsutardja 4:947c3634b649 297 motor_ctrl.setOutputLimits(0.01, 0.5);
vsutardja 4:947c3634b649 298 motor_ctrl.setSetPoint(ref_v);
vsutardja 0:fcf070a88ba0 299 motor_ctrl.setBias(0.0);
vsutardja 0:fcf070a88ba0 300 motor_ctrl.setMode(1);
vsutardja 0:fcf070a88ba0 301
vsutardja 0:fcf070a88ba0 302 // Initialize bluetooth
vsutardja 7:8229baaf1fbf 303 // bt.baud(115200);
vsutardja 0:fcf070a88ba0 304
vsutardja 0:fcf070a88ba0 305 // Initialize communications thread
vsutardja 7:8229baaf1fbf 306 // Thread communication_thread(communication);
vsutardja 7:8229baaf1fbf 307
vsutardja 0:fcf070a88ba0 308
vsutardja 0:fcf070a88ba0 309 // Start motor controller
vsutardja 0:fcf070a88ba0 310 while (true) {
vsutardja 7:8229baaf1fbf 311 // telemetry_serial.printf("%d\r\n", t.read_ms());
vsutardja 8:71c39d2f80e2 312 // if (dec == 100) {
vsutardja 7:8229baaf1fbf 313 tele_time_ms = t.read_ms();
vsutardja 7:8229baaf1fbf 314 telemetry_obj.do_io();
vsutardja 8:71c39d2f80e2 315 // dec = 0;
vsutardja 8:71c39d2f80e2 316 // }
vsutardja 8:71c39d2f80e2 317 // dec = dec + 1;
vsutardja 0:fcf070a88ba0 318 curr_pulses = qei.getPulses();
vsutardja 4:947c3634b649 319 //for (int i = 0; i < MVG_AVG - 1; i++) {
vsutardja 4:947c3634b649 320 // v_prev[i] = abs(1.5 - 0.5 * (1.5 - v_prev[i+1]));
vsutardja 4:947c3634b649 321 // }
vsutardja 4:947c3634b649 322 // v_prev[MVG_AVG-1] = velocity;
vsutardja 4:947c3634b649 323 velocity = (curr_pulses - prev_pulses)/ interval / ppr * c / 2.5;
vsutardja 8:71c39d2f80e2 324 tele_vel = velocity;
vsutardja 4:947c3634b649 325 //vel = velocity;
vsutardja 4:947c3634b649 326 // for (int i = 0; i < MVG_AVG; i++) {
vsutardja 4:947c3634b649 327 // velocity = velocity + v_prev[i];
vsutardja 4:947c3634b649 328 // }
vsutardja 4:947c3634b649 329 // velocity = velocity / (MVG_AVG + 1.0);
vsutardja 0:fcf070a88ba0 330 prev_pulses = curr_pulses;
vsutardja 0:fcf070a88ba0 331 motor_ctrl.setProcessValue(velocity);
vsutardja 0:fcf070a88ba0 332 d = motor_ctrl.compute();
vsutardja 0:fcf070a88ba0 333 motor = 1.0 - d;
vsutardja 0:fcf070a88ba0 334 wait(interval);
vsutardja 7:8229baaf1fbf 335 // pc.printf("Exposure: %d, Center: %d, Angle: %f\r\n", t_int, center, a);
vsutardja 0:fcf070a88ba0 336 }
vsutardja 0:fcf070a88ba0 337 }