Revision 7:62ebacf26446, committed 2015-03-19

Comitter:

ericoneill

Date:

Thu Mar 19 05:21:34 2015 +0000

Parent:

5:764c2ffb523a

Child:

8:8036a056f499

Commit message:

MORE ENCODER STUFF

Changed in this revision

--- a/encoder.h	Thu Mar 19 05:18:52 2015 +0000
+++ b/encoder.h	Thu Mar 19 05:21:34 2015 +0000
@@ -8,6 +8,17 @@
     void fallInterrupt();
     void riseInterrupt();
 private:
+    //Observed average speeds for each duty cycle
+    const float TUNING_CONSTANT_20 = 3.00;
+    const float TUNING_CONSTANT_30 = 4.30;
+    const float TUNING_CONSTANT_50 = 6.880;
+    const float PI = 3.14159;
+    const float WHEEL_CIRCUMFERENCE = .05*PI;
+    
+    //Velocity Control Tuning Constants
+    const float TUNE_THRESH = 0.5f;
+    const float TUNE_AMT = 0.1f;
+
     //Intervals used during encoder data collection to measure velocity
     int interval1=0;
     int interval2=0;
@@ -23,6 +34,19 @@
     float stall_check = 0;
     float tuning_val = 1;
     
+    // Servo parameters
+    float lastTurnTime = 0.0f;
+    bool servoLeft = true;
+    
+    //Parameters specifying sample sizes and delays for small and large average speed samples
+    float num_samples_small = 10.0f;
+    float delay_small = 0.05f;
+    float num_samples_large = 100.0f;
+    float delay_large = 0.1f;
+    
+    // Large and small arrays used to get average velocity values
+    float large_avg_speed_list [100];
+    float small_avg_speed_list [10];
     float get_speed();
     float get_avg_speed(float num_samples, float delay);