Diff: GainControl.cpp

Revision:

2:eabcd6202bff

Parent:

1:d4c2e72540db

Child:

3:9bdf180baa64

--- a/GainControl.cpp	Thu Mar 26 12:30:15 2015 +0000
+++ b/GainControl.cpp	Tue Mar 31 12:48:54 2015 +0000
@@ -13,45 +13,50 @@
 int user_direction = 0;
 float duty_cycle = 0.0; 
 int pulses = 0; 
-float theta = 0.0;  
-float time =0.0;
-float signed_duty_cycle = 0.0; 
-float Kp = 1;  
-
-float theta_ref = 3.14/4.0; 
+float time[500]={0} ; 
+float theta[500]={0} ; 
+float ang_v[500]={0};
+int counter = 1; 
+int k = 0; 
+ 
 
 while(1)
     {
-    //printf("Enter duty cycle, 0 to 100:\n"); 
-    //scanf("%d", &input_dc); 
+    printf("Enter duty cycle, 0 to 100:\n"); 
+    scanf("%d", &input_dc); 
     
-    //signed_duty_cycle = Kp*(theta_ref - theta); 
-    //duty_cycle = input_dc/100.0;  
-    duty_cycle = signed_duty_cycle/100.0; 
+    duty_cycle = input_dc/100.0;  
     
-    printf("\n %f duty cycle set. Enter 1 for CCW or 0 for CW spin direction:\n",duty_cycle); 
+    printf("\n %f duty cycle set. Enter 0 for CCW or 1 for CW spin direction:\n",duty_cycle); 
     scanf("%d", &user_direction); 
-    
-    printf("it's starting... move the thing!\n");
-    t.start();
+   
     turret_speed = duty_cycle; 
     turret_direction = user_direction; 
     printf("%f duty cycle. %d spin.\n", duty_cycle, user_direction); 
+  
+    t.start();
+    while(time[counter-1]<5.05)
+       {
+        wait(0.01); 
+        pulses = myEncoder.getPulses(); 
+        theta[counter] = ((float)pulses/ (1600.0*2.0))*-2.0*3.14;
+        time[counter] = t.read();
+        ang_v[counter]=(theta[counter]-theta[counter-1])/(time[counter]-time[counter-1]);      
+       
+        printf("time(%d,1) = %.5f;\n",counter,time[counter]);
+        printf("theta(%d,1) = %.5f;\n",counter,theta[counter]); 
+        printf("ang_v(%d,1) = %.5f; \n",counter,ang_v[counter]); 
+        counter = counter +1; 
+        }  
+    turret_speed = 0; 
+    t.stop();    
     
-    while(1)
+    for(k=0; k<counter+1; k++) 
         {
-            wait(0.01); 
-            pulses = myEncoder.getPulses(); 
-            theta = ((float)pulses/ (1600.0*2.0))*-2.0*3.14;
-            time = t.read(); 
-            
-            signed_duty_cycle = Kp*(theta_ref - theta); 
-            duty_cycle = signed_duty_cycle; 
-            turret_speed = duty_cycle; 
-                        
-            printf("time = %.5f;\n",time);
-            printf("theta = %.5f;\n",theta); 
-            printf("duty cyle= %f. \n", duty_cycle); 
-        }      
+            printf("time(%d,1) = %.5f;\n",k+1,time[k]);
+            printf("theta(%d,1) = %.5f;\n",k+1,theta[k]);           
+        }    
+    printf("Duty Cycle = %f", duty_cycle); 
+    
     }
 }
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