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 47:6a58dcef714f, committed 2017-04-27

Comitter:
lh14g13
Date:
Thu Apr 27 07:40:02 2017 +0000
Parent:
46:6806ea59ffed
Child:
48:daa2a1900ada
Commit message:
tweaked values of parameters;

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file
main.h Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Mon Mar 27 17:53:17 2017 +0000
+++ b/main.cpp	Thu Apr 27 07:40:02 2017 +0000
@@ -80,7 +80,7 @@
                 accc = checkAcc();
             }
             
-            if(accc < 0.2f) {
+            if(accc < 0.25f) {
                 handleStartStop(); 
             } else {    
                 //sendString("up %f", accc);    
@@ -161,22 +161,22 @@
                  case 0:
                      initPID(&servo_pid, 2.2f, 0.6f, 0.f);
                      speed = 40;
-                     ed_tune = 1.0f;
+                     ed_tune = man_tuner;
                     break;
                 case 1:
                      initPID(&servo_pid, 2.2f, 0.6f, 0.f);
-                     speed = 80;
-                     ed_tune = 1.0f;
+                     speed = 65;
+                     ed_tune = man_tuner;
                     break;
                 case 2:
                      initPID(&servo_pid, 2.2f, 0.6f, 0.f);
-                     speed = 100;
-                     ed_tune = 1.0f;
+                     speed = 80;
+                     ed_tune = man_tuner;
                     break;
                 case 3:
                      initPID(&servo_pid, 2.2f, 0.6f, 0.f);
-                     speed = 120;
-                     ed_tune = 1.0f;
+                     speed = 110;
+                     ed_tune = man_tuner;
                     break;
             }
             
@@ -438,9 +438,9 @@
     if(left_motor_pid.output > 1.0f) {
        left_motor_pid.output = 1.0f; 
     }
-    if(left_motor_pid.output > 0.75f) {
+    /*if(left_motor_pid.output > 0.75f) {
         left_motor_pid.output = 0.75f;
-    }
+    }*/
     if(left_motor_pid.output < 0.0f) {
        left_motor_pid.output = 0.0f; 
     }
@@ -449,9 +449,9 @@
         right_motor_pid.output = 1.0f;
     }
     
-     if(right_motor_pid.output > 0.75f) {
+     /*if(right_motor_pid.output > 0.75f) {
         right_motor_pid.output = 0.75f;
-    }
+    }*/
     if(right_motor_pid.output < 0.0f) {
         right_motor_pid.output = 0.0f;
     }

--- a/main.h	Mon Mar 27 17:53:17 2017 +0000
+++ b/main.h	Thu Apr 27 07:40:02 2017 +0000
@@ -131,7 +131,7 @@
 
 //Accelerometer:
 float checkAcc();
- 
+ float man_tuner = 1.0f ;
 #if   defined (TARGET_KL25Z) || defined (TARGET_KL46Z)
   PinName const SDA = PTE25;
   PinName const SCL = PTE24;