Diff: main.cpp

Revision:

18:831c1e03d83e

Parent:

17:d2c98ebda90b

Child:

19:65fecaa2a387

--- a/main.cpp	Tue Oct 26 19:10:13 2021 +0000
+++ b/main.cpp	Tue Oct 26 22:56:10 2021 +0000
@@ -24,7 +24,10 @@
     steering_control(); 
     PI();
     };
+    
+DigitalOut mm(PTC17);
 int main() { 
+    mm=1;
     state_update();
     //Delcare Onboard LED with blue color
     DigitalOut led_b(LED_BLUE);
@@ -39,7 +42,7 @@
     //Start the control systm using a Ticker object
       steering_control_ticker.attach(&steering_control, 0.02);
       motorLoop.attach(&PI,TI);
-  //    fault_detector.attach(&fault_check, 0.02);
+     fault_detector.attach(&fault_check, 0.003);
       //bt.attach(&btReceive);
     
     // call landmark_counter wjen a landmark is detected 
@@ -73,7 +76,7 @@
      */
       //wait(0.5); //commented out the wait bc it slows down the fault_check, and it breaks the analogIn readings for the driving input
                     //the driving input ticker is faster than the analog.read() function, so all analog.read() methods must be in the main loop
-     switch(current_state ){
+     switch(current_state){
          case STOP :    bt.printf("\r\nCurrent state is stop"); break; 
          case RUN:      bt.printf("\r\nCurrent state is RUN"); break; 
          case WAIT :    bt.printf("\r\nCurrent state is WAIT"); break; 
@@ -86,7 +89,7 @@
           }
           
 x = abs(acc.getAccX());
-pot1Voltage = pot1 * 3.3f;
+//pot1Voltage = pot1 * 3.3f;
 //dutyCycleLeft = (pot1 * fullBatScalar);
 //dutyCycleRight = (pot1 * fullBatScalar);
 
@@ -101,9 +104,9 @@
 bt.printf(", %5.2f     ", errorRight);
 
 bt.printf("ErrorArea: %1.2f     ", errorAreaLeft);
-bt.printf("Output: %1.2f     ", controllerOutputLeft);
+pc.printf("Output: %1.2f     ", controllerOutputLeft);
 
-bt.printf("Batt Voltage: %1.2f \n",avgCellVoltage);
+pc.printf("Batt Voltage: %1.2f \n",avgCellVoltage);
 
 //setpointLeft = pot1;
 //setpointRight = pot1;