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 41:d74878640739, committed 2017-01-25

Comitter:
FatCookies
Date:
Wed Jan 25 15:46:50 2017 +0000
Parent:
40:10e8e80af7da
Child:
42:4395ede5781e
Child:
43:649473c5a12b
Commit message:
readFloat function added

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	Sat Jan 21 11:59:20 2017 +0000
+++ b/main.cpp	Wed Jan 25 15:46:50 2017 +0000
@@ -504,6 +504,14 @@
 
 }
 
+float readFloat() {
+    byte_float_union.bytes[0] = xb.cBuffer->read();
+    byte_float_union.bytes[1] = xb.cBuffer->read();
+    byte_float_union.bytes[2] = xb.cBuffer->read();
+    byte_float_union.bytes[3] = xb.cBuffer->read();
+    return byte_float_union._float;    
+}
+
 // Listen for incoming commands from telemetry program and change car variables
 inline void handleComms() {
     if(curr_cmd != 0) {
@@ -511,24 +519,10 @@
                 // Change the PID values of the servo controller
                 case CHANGE_PID:
                     if(xb.cBuffer->available() >= 12) {
-                    
-                        byte_float_union.bytes[0] = xb.cBuffer->read();
-                        byte_float_union.bytes[1] = xb.cBuffer->read();
-                        byte_float_union.bytes[2] = xb.cBuffer->read();
-                        byte_float_union.bytes[3] = xb.cBuffer->read();
-                        servo_pid.Kp = byte_float_union._float; 
                         
-                        byte_float_union.bytes[0] = xb.cBuffer->read();
-                        byte_float_union.bytes[1] = xb.cBuffer->read();
-                        byte_float_union.bytes[2] = xb.cBuffer->read();
-                        byte_float_union.bytes[3] = xb.cBuffer->read();
-                        servo_pid.Ki = byte_float_union._float; 
-                        
-                        byte_float_union.bytes[0] = xb.cBuffer->read();
-                        byte_float_union.bytes[1] = xb.cBuffer->read();
-                        byte_float_union.bytes[2] = xb.cBuffer->read();
-                        byte_float_union.bytes[3] = xb.cBuffer->read();
-                        servo_pid.Kd = byte_float_union._float; 
+                        servo_pid.Kp = readFloat();
+                        servo_pid.Ki = readFloat();
+                        servo_pid.Kd = readFloat();
                         
                         sendString("pid= Kp: %f, Ki: %f, Kd: %f",  servo_pid.Kp, servo_pid.Ki, servo_pid.Kd);
                         
@@ -551,11 +545,7 @@
                 // Change the electronic differential coefficient
                 case CHANGE_ED:
                  if(xb.cBuffer->available() >= 4) {
-                        byte_float_union.bytes[0] = xb.cBuffer->read();
-                        byte_float_union.bytes[1] = xb.cBuffer->read();
-                        byte_float_union.bytes[2] = xb.cBuffer->read();
-                        byte_float_union.bytes[3] = xb.cBuffer->read();
-                        ed_tune = byte_float_union._float; 
+                        ed_tune = readFloat();
                         curr_cmd = 0;
                     }
                 break;

--- a/main.h	Sat Jan 21 11:59:20 2017 +0000
+++ b/main.h	Wed Jan 25 15:46:50 2017 +0000
@@ -42,6 +42,7 @@
     float output;
 } pid_instance;
 
+extern float readFloat();
 extern inline void handleComms();
 extern void sendString(const char *format, ...);
 extern inline void sendImage();