GDP 4 / Mbed 2 deprecated pid-car-example

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Dependencies:   FRDM-TFC mbed CBuffer XBEE mbed_angular_speed motor2 MMA8451Q

Fork of KL25Z_Camera_Test by GDP 4

Files at this revision

API Documentation at this revision

Revision 14:13085e161dd1, committed 2016-11-30

Comitter:
FatCookies
Date:
Wed Nov 30 14:54:19 2016 +0000
Parent:
13:4e77264f254a
Child:
15:ccde02f96449
Commit message:
integrated electronic diff

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file
motor2.lib Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Tue Nov 29 13:11:20 2016 +0000
+++ b/main.cpp	Wed Nov 30 14:54:19 2016 +0000
@@ -13,12 +13,13 @@
 #include "TFC.h"
 #include "XBEE.h"
 #include "angular_speed.h"
+#include "main.h"
 #include "motor.h"
-#include "main.h"
 
 #define BAUD_RATE 57600
 #define CAM_THRESHOLD 109
 #define CAM_DIFF 10
+#define WHEEL_RADIUS 0.025f
 
 #define RIGHT_MOTOR_COMPENSATION_RATIO 1.1586276
 
@@ -192,11 +193,17 @@
         }
     } 
     
+    if(turning) {
+        dutyCycleCorner(0.3,servo_pid.output);
+        //sensorCorner(left_motor_pid.desired_value, right_motor_pid.desired_value , servo_pid.output, 50);  
+    }
+    
     if(abs(servo_pid.measured_value) > 0.11f){
         if(!turning) {
             sendString("start turning");
             
             TFC_SetMotorPWM(0.2,0.2);
+            
             turning = 1;
             
         } else {
@@ -238,13 +245,14 @@
         unsigned char bytes[4];
     } thing;
     
+
     pc.putc('B');
-    thing.a = wL;
+    thing.a = wL * WHEEL_RADIUS;
     pc.putc(thing.bytes[0]);
     pc.putc(thing.bytes[1]);
     pc.putc(thing.bytes[2]);
     pc.putc(thing.bytes[3]);
-    thing.a = wR;
+    thing.a = wR * WHEEL_RADIUS;
     pc.putc(thing.bytes[0]);
     pc.putc(thing.bytes[1]);
     pc.putc(thing.bytes[2]);
@@ -403,10 +411,6 @@
         //If we've done 5 laps, stop the car
         if(startstop >= 1) {
             TFC_SetMotorPWM(0.f,0.f);
-            wait(0.08);
-            TFC_SetMotorPWM(-0.6f,-0.6f);
-            wait(0.3);
-            TFC_SetMotorPWM(0.f,0.f);
             TFC_HBRIDGE_DISABLE;
             startstop = 0;      
         }

--- a/motor2.lib	Tue Nov 29 13:11:20 2016 +0000
+++ b/motor2.lib	Wed Nov 30 14:54:19 2016 +0000
@@ -1,1 +1,1 @@
-http://developer.mbed.org/teams/GDP-4/code/motor2/#28216063e33e
+http://developer.mbed.org/teams/GDP-4/code/motor2/#85cf7b6b0422