PIDs and fun
Dependencies: btbee m3pi_ng mbed FatFileSystemCpp
main.cpp@13:0b1e1e90f147, 2015-05-28 (annotated)
- Committer:
- morganrose402
- Date:
- Thu May 28 14:51:36 2015 +0000
- Revision:
- 13:0b1e1e90f147
- Parent:
- 12:057471fb3616
- Child:
- 19:e7183dbcc0ba
USB
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
crmackey | 0:4d1ae7eb0070 | 1 | #include "mbed.h" |
crmackey | 0:4d1ae7eb0070 | 2 | #include "m3pi_ng.h" |
crmackey | 0:4d1ae7eb0070 | 3 | #include "time.h" |
crmackey | 0:4d1ae7eb0070 | 4 | #include "btbee.h" |
morganrose402 | 9:43be0dea44f0 | 5 | #include <string> |
morganrose402 | 9:43be0dea44f0 | 6 | #include <sstream> |
morganrose402 | 9:43be0dea44f0 | 7 | |
morganrose402 | 9:43be0dea44f0 | 8 | using namespace std; |
morganrose402 | 10:fd4ae3946c7e | 9 | |
morganrose402 | 9:43be0dea44f0 | 10 | //For USB writing |
morganrose402 | 9:43be0dea44f0 | 11 | #include "MSCFileSystem.h" |
morganrose402 | 9:43be0dea44f0 | 12 | #define FSNAME "msc" |
morganrose402 | 9:43be0dea44f0 | 13 | MSCFileSystem msc(FSNAME); |
morganrose402 | 9:43be0dea44f0 | 14 | |
crmackey | 0:4d1ae7eb0070 | 15 | |
crmackey | 0:4d1ae7eb0070 | 16 | m3pi m3pi; |
crmackey | 0:4d1ae7eb0070 | 17 | btbee btbee; |
crmackey | 0:4d1ae7eb0070 | 18 | DigitalIn m3pi_pb(p21); |
crmackey | 1:936e329e840a | 19 | DigitalIn m3pi_IN[] = {(p12)}; |
crmackey | 0:4d1ae7eb0070 | 20 | DigitalOut mbed_led[] = {(LED1), (LED2),(LED3), (LED4)}; |
crmackey | 0:4d1ae7eb0070 | 21 | DigitalOut m3pi_led[] = {(p13), (p14), (p15), (p16), (p17), (p18), (p19), (p20)}; |
crmackey | 0:4d1ae7eb0070 | 22 | |
crmackey | 0:4d1ae7eb0070 | 23 | // Minimum and maximum motor speeds |
crmackey | 0:4d1ae7eb0070 | 24 | #define MAX 1.0 |
crmackey | 0:4d1ae7eb0070 | 25 | #define MIN 0 |
crmackey | 0:4d1ae7eb0070 | 26 | |
crmackey | 0:4d1ae7eb0070 | 27 | // PID terms |
crmackey | 6:75a6f6b50188 | 28 | double P_TERM = 1.5; |
crmackey | 6:75a6f6b50188 | 29 | double I_TERM = 0; |
crmackey | 6:75a6f6b50188 | 30 | double D_TERM = 25; |
crmackey | 6:75a6f6b50188 | 31 | char arr_read[30]; |
crmackey | 6:75a6f6b50188 | 32 | int chars_read; |
crmackey | 0:4d1ae7eb0070 | 33 | |
crmackey | 0:4d1ae7eb0070 | 34 | int main() { |
crmackey | 0:4d1ae7eb0070 | 35 | |
morganrose402 | 12:057471fb3616 | 36 | DIR *d; |
morganrose402 | 12:057471fb3616 | 37 | struct dirent *p; |
morganrose402 | 12:057471fb3616 | 38 | |
morganrose402 | 12:057471fb3616 | 39 | d = opendir("/" FSNAME); |
morganrose402 | 12:057471fb3616 | 40 | |
morganrose402 | 12:057471fb3616 | 41 | FILE *fp = fopen( "/" FSNAME "/Fertig.txt", "w"); |
morganrose402 | 12:057471fb3616 | 42 | if ( fp == NULL ) |
morganrose402 | 12:057471fb3616 | 43 | { |
morganrose402 | 12:057471fb3616 | 44 | m3pi.leds(1); |
morganrose402 | 12:057471fb3616 | 45 | } |
crmackey | 1:936e329e840a | 46 | |
crmackey | 0:4d1ae7eb0070 | 47 | |
crmackey | 0:4d1ae7eb0070 | 48 | btbee.reset(); |
crmackey | 0:4d1ae7eb0070 | 49 | m3pi_pb.mode(PullUp); |
crmackey | 0:4d1ae7eb0070 | 50 | |
crmackey | 0:4d1ae7eb0070 | 51 | m3pi.printf("Wait 4"); |
crmackey | 0:4d1ae7eb0070 | 52 | m3pi.locate(0,1); |
crmackey | 0:4d1ae7eb0070 | 53 | m3pi.printf("PC"); |
crmackey | 0:4d1ae7eb0070 | 54 | |
crmackey | 0:4d1ae7eb0070 | 55 | while(m3pi_pb) { |
crmackey | 0:4d1ae7eb0070 | 56 | m3pi_led[0]=!m3pi_led[0]; |
crmackey | 0:4d1ae7eb0070 | 57 | wait(3); |
crmackey | 0:4d1ae7eb0070 | 58 | btbee.printf("\n"); |
crmackey | 0:4d1ae7eb0070 | 59 | btbee.printf("PC connected. Press the button \n"); |
crmackey | 0:4d1ae7eb0070 | 60 | } |
crmackey | 0:4d1ae7eb0070 | 61 | |
crmackey | 1:936e329e840a | 62 | m3pi.cls(); |
crmackey | 0:4d1ae7eb0070 | 63 | |
crmackey | 0:4d1ae7eb0070 | 64 | Timer LapTimer; |
crmackey | 5:3f29267b18e3 | 65 | Timer LoopTime; |
crmackey | 0:4d1ae7eb0070 | 66 | char Bat[] = {'V','o','l','t',' ','i','s'}; |
crmackey | 0:4d1ae7eb0070 | 67 | m3pi.print(Bat,7); |
crmackey | 0:4d1ae7eb0070 | 68 | wait(0.75); |
crmackey | 0:4d1ae7eb0070 | 69 | m3pi.cls(); |
crmackey | 0:4d1ae7eb0070 | 70 | float batteryvoltage = m3pi.battery(); |
crmackey | 0:4d1ae7eb0070 | 71 | char* str = new char[30]; |
crmackey | 0:4d1ae7eb0070 | 72 | sprintf(str, "%.4g", batteryvoltage); |
crmackey | 0:4d1ae7eb0070 | 73 | m3pi.print(str,6); |
crmackey | 0:4d1ae7eb0070 | 74 | btbee.printf("Battery voltage is %f \n", batteryvoltage); |
crmackey | 0:4d1ae7eb0070 | 75 | wait(0.75); |
crmackey | 0:4d1ae7eb0070 | 76 | m3pi.cls(); |
crmackey | 0:4d1ae7eb0070 | 77 | |
crmackey | 0:4d1ae7eb0070 | 78 | if (batteryvoltage < 4.2) |
crmackey | 0:4d1ae7eb0070 | 79 | { |
crmackey | 0:4d1ae7eb0070 | 80 | char low[] = {'L','o','w',' ','b','a','t'}; |
crmackey | 0:4d1ae7eb0070 | 81 | m3pi.print(low,7); |
crmackey | 0:4d1ae7eb0070 | 82 | char ExitSound[]={'V','1','5','O','6','E','4','O','5','E','4'}; |
crmackey | 0:4d1ae7eb0070 | 83 | m3pi.playtune(ExitSound,11); |
crmackey | 0:4d1ae7eb0070 | 84 | btbee.printf("Battery voltage is too low. Stopping program"); |
crmackey | 0:4d1ae7eb0070 | 85 | exit(1); |
crmackey | 0:4d1ae7eb0070 | 86 | } |
crmackey | 0:4d1ae7eb0070 | 87 | |
crmackey | 0:4d1ae7eb0070 | 88 | m3pi.locate(0,1); |
crmackey | 0:4d1ae7eb0070 | 89 | m3pi.printf("Line PID"); |
crmackey | 0:4d1ae7eb0070 | 90 | |
crmackey | 0:4d1ae7eb0070 | 91 | wait(2.0); |
crmackey | 6:75a6f6b50188 | 92 | |
crmackey | 0:4d1ae7eb0070 | 93 | btbee.printf("Now calibrating \n"); |
crmackey | 0:4d1ae7eb0070 | 94 | |
crmackey | 0:4d1ae7eb0070 | 95 | m3pi.sensor_auto_calibrate(); |
crmackey | 0:4d1ae7eb0070 | 96 | |
crmackey | 0:4d1ae7eb0070 | 97 | btbee.printf("Finished calibrating \n"); |
crmackey | 0:4d1ae7eb0070 | 98 | |
crmackey | 0:4d1ae7eb0070 | 99 | |
crmackey | 0:4d1ae7eb0070 | 100 | float right; |
crmackey | 0:4d1ae7eb0070 | 101 | float left; |
crmackey | 0:4d1ae7eb0070 | 102 | float current_pos_of_line = 0.0; |
crmackey | 0:4d1ae7eb0070 | 103 | float previous_pos_of_line = 0.0; |
crmackey | 0:4d1ae7eb0070 | 104 | float derivative,proportional,integral = 0; |
crmackey | 0:4d1ae7eb0070 | 105 | float power; |
crmackey | 0:4d1ae7eb0070 | 106 | float speed = MAX; |
crmackey | 0:4d1ae7eb0070 | 107 | int LapTest[5]; |
crmackey | 0:4d1ae7eb0070 | 108 | int s1, s2, s3, s4, s5; |
crmackey | 0:4d1ae7eb0070 | 109 | int counter = -1; |
crmackey | 0:4d1ae7eb0070 | 110 | int checkvar = 0; |
crmackey | 0:4d1ae7eb0070 | 111 | double Time1, Time2, Time3, Time4, Time5, TimeAve; |
crmackey | 3:ebe015c72bba | 112 | bool IR = 1; |
crmackey | 5:3f29267b18e3 | 113 | double timer; |
crmackey | 0:4d1ae7eb0070 | 114 | btbee.printf("\n"); |
crmackey | 0:4d1ae7eb0070 | 115 | btbee.printf("Now starting \n"); |
crmackey | 0:4d1ae7eb0070 | 116 | |
crmackey | 1:936e329e840a | 117 | while (1) { |
crmackey | 1:936e329e840a | 118 | |
crmackey | 5:3f29267b18e3 | 119 | LoopTime.start(); |
crmackey | 5:3f29267b18e3 | 120 | |
crmackey | 3:ebe015c72bba | 121 | IR = m3pi_IN [0]; |
crmackey | 3:ebe015c72bba | 122 | |
crmackey | 3:ebe015c72bba | 123 | if(m3pi_IN [0] == 0 and IR == 0) { |
crmackey | 3:ebe015c72bba | 124 | while (m3pi_IN [0] == 0 and IR == 0) { |
crmackey | 4:0bcd7a924140 | 125 | m3pi.cls(); |
crmackey | 4:0bcd7a924140 | 126 | btbee.printf("Obstacle detected. Ending program"); |
crmackey | 4:0bcd7a924140 | 127 | m3pi.printf("ABORT"); |
crmackey | 2:1e947dcc40cb | 128 | m3pi.stop(); |
crmackey | 4:0bcd7a924140 | 129 | exit(1); |
crmackey | 2:1e947dcc40cb | 130 | } |
crmackey | 2:1e947dcc40cb | 131 | } |
crmackey | 4:0bcd7a924140 | 132 | |
crmackey | 2:1e947dcc40cb | 133 | |
crmackey | 2:1e947dcc40cb | 134 | // Get the position of the line. |
crmackey | 0:4d1ae7eb0070 | 135 | current_pos_of_line = m3pi.line_position(); |
crmackey | 0:4d1ae7eb0070 | 136 | proportional = current_pos_of_line; |
crmackey | 0:4d1ae7eb0070 | 137 | |
morganrose402 | 9:43be0dea44f0 | 138 | |
crmackey | 0:4d1ae7eb0070 | 139 | // Compute the derivative |
crmackey | 0:4d1ae7eb0070 | 140 | derivative = current_pos_of_line - previous_pos_of_line; |
crmackey | 0:4d1ae7eb0070 | 141 | |
crmackey | 0:4d1ae7eb0070 | 142 | // Compute the integral |
crmackey | 0:4d1ae7eb0070 | 143 | integral += proportional; |
crmackey | 0:4d1ae7eb0070 | 144 | |
crmackey | 0:4d1ae7eb0070 | 145 | // Remember the last position. |
crmackey | 0:4d1ae7eb0070 | 146 | previous_pos_of_line = current_pos_of_line; |
crmackey | 0:4d1ae7eb0070 | 147 | |
crmackey | 0:4d1ae7eb0070 | 148 | // Compute the power |
crmackey | 0:4d1ae7eb0070 | 149 | power = (proportional * (P_TERM) ) + (integral*(I_TERM)) + (derivative*(D_TERM)) ; |
crmackey | 0:4d1ae7eb0070 | 150 | |
crmackey | 0:4d1ae7eb0070 | 151 | // Compute new speeds |
crmackey | 0:4d1ae7eb0070 | 152 | right = speed+power; |
crmackey | 0:4d1ae7eb0070 | 153 | left = speed-power; |
crmackey | 0:4d1ae7eb0070 | 154 | |
crmackey | 0:4d1ae7eb0070 | 155 | // limit checks |
crmackey | 0:4d1ae7eb0070 | 156 | if (right < MIN) |
crmackey | 0:4d1ae7eb0070 | 157 | right = MIN; |
crmackey | 0:4d1ae7eb0070 | 158 | else if (right > MAX) |
crmackey | 0:4d1ae7eb0070 | 159 | right = MAX; |
crmackey | 0:4d1ae7eb0070 | 160 | |
crmackey | 0:4d1ae7eb0070 | 161 | if (left < MIN) |
crmackey | 0:4d1ae7eb0070 | 162 | left = MIN; |
crmackey | 0:4d1ae7eb0070 | 163 | else if (left > MAX) |
crmackey | 0:4d1ae7eb0070 | 164 | left = MAX; |
crmackey | 0:4d1ae7eb0070 | 165 | |
crmackey | 0:4d1ae7eb0070 | 166 | // set speed |
crmackey | 0:4d1ae7eb0070 | 167 | m3pi.left_motor(left); |
crmackey | 0:4d1ae7eb0070 | 168 | m3pi.right_motor(right); |
crmackey | 0:4d1ae7eb0070 | 169 | |
morganrose402 | 9:43be0dea44f0 | 170 | |
morganrose402 | 11:ac6112ca954f | 171 | |
morganrose402 | 9:43be0dea44f0 | 172 | |
crmackey | 0:4d1ae7eb0070 | 173 | m3pi.calibrated_sensor(LapTest); |
crmackey | 0:4d1ae7eb0070 | 174 | |
crmackey | 0:4d1ae7eb0070 | 175 | s1 = LapTest[0]; |
crmackey | 0:4d1ae7eb0070 | 176 | s5 = LapTest[4]; |
crmackey | 0:4d1ae7eb0070 | 177 | |
crmackey | 8:e7b322f72d16 | 178 | if (s1 > 500 and s5 > 500) { |
crmackey | 8:e7b322f72d16 | 179 | m3pi.stop(); |
crmackey | 8:e7b322f72d16 | 180 | exit(1); |
crmackey | 8:e7b322f72d16 | 181 | } |
crmackey | 8:e7b322f72d16 | 182 | |
crmackey | 7:74c9a0fbf2b1 | 183 | // if (s1 < 500 and s5 < 500 and checkvar == 1 and counter == -1) { |
crmackey | 7:74c9a0fbf2b1 | 184 | // LapTimer.reset(); |
crmackey | 7:74c9a0fbf2b1 | 185 | // LapTimer.start(); |
crmackey | 7:74c9a0fbf2b1 | 186 | // } |
crmackey | 7:74c9a0fbf2b1 | 187 | // |
crmackey | 7:74c9a0fbf2b1 | 188 | // if (s1 < 500 and s5 < 500 and checkvar == 1) { |
crmackey | 7:74c9a0fbf2b1 | 189 | // counter = counter + 1; |
crmackey | 7:74c9a0fbf2b1 | 190 | // m3pi.cls(); |
crmackey | 7:74c9a0fbf2b1 | 191 | // m3pi.printf("%d", counter); |
crmackey | 7:74c9a0fbf2b1 | 192 | // checkvar = 0; |
crmackey | 7:74c9a0fbf2b1 | 193 | // switch (counter) { |
crmackey | 7:74c9a0fbf2b1 | 194 | // case 1: { |
crmackey | 7:74c9a0fbf2b1 | 195 | // Time1 = LapTimer.read(); |
crmackey | 7:74c9a0fbf2b1 | 196 | // LapTimer.reset(); |
crmackey | 7:74c9a0fbf2b1 | 197 | // LapTimer.start(); |
crmackey | 7:74c9a0fbf2b1 | 198 | // btbee.printf("Lap 1: %f \n", Time1); |
crmackey | 7:74c9a0fbf2b1 | 199 | // break; |
crmackey | 7:74c9a0fbf2b1 | 200 | // } |
crmackey | 7:74c9a0fbf2b1 | 201 | // case 2: { |
crmackey | 7:74c9a0fbf2b1 | 202 | // Time2 = LapTimer.read(); |
crmackey | 7:74c9a0fbf2b1 | 203 | // LapTimer.reset(); |
crmackey | 7:74c9a0fbf2b1 | 204 | // LapTimer.start(); |
crmackey | 7:74c9a0fbf2b1 | 205 | // btbee.printf("Lap 2: %f \n", Time2); |
crmackey | 7:74c9a0fbf2b1 | 206 | // break; |
crmackey | 7:74c9a0fbf2b1 | 207 | // } |
crmackey | 7:74c9a0fbf2b1 | 208 | // case 3: { |
crmackey | 7:74c9a0fbf2b1 | 209 | // Time3 = LapTimer.read(); |
crmackey | 7:74c9a0fbf2b1 | 210 | // LapTimer.reset(); |
crmackey | 7:74c9a0fbf2b1 | 211 | // LapTimer.start(); |
crmackey | 7:74c9a0fbf2b1 | 212 | // btbee.printf("Lap 3: %f \n", Time3); |
crmackey | 7:74c9a0fbf2b1 | 213 | // break; |
crmackey | 7:74c9a0fbf2b1 | 214 | // } |
crmackey | 7:74c9a0fbf2b1 | 215 | // case 4: { |
crmackey | 7:74c9a0fbf2b1 | 216 | // Time4 = LapTimer.read(); |
crmackey | 7:74c9a0fbf2b1 | 217 | // LapTimer.reset(); |
crmackey | 7:74c9a0fbf2b1 | 218 | // LapTimer.start(); |
crmackey | 7:74c9a0fbf2b1 | 219 | // btbee.printf("Lap 4: %f \n", Time4); |
crmackey | 7:74c9a0fbf2b1 | 220 | // break; |
crmackey | 7:74c9a0fbf2b1 | 221 | // } |
crmackey | 7:74c9a0fbf2b1 | 222 | // case 5: { |
crmackey | 7:74c9a0fbf2b1 | 223 | // Time5 = LapTimer.read(); |
crmackey | 7:74c9a0fbf2b1 | 224 | // LapTimer.reset(); |
crmackey | 7:74c9a0fbf2b1 | 225 | // LapTimer.start(); |
crmackey | 7:74c9a0fbf2b1 | 226 | // btbee.printf("Lap 5: %f \n", Time5); |
crmackey | 7:74c9a0fbf2b1 | 227 | // break; |
crmackey | 7:74c9a0fbf2b1 | 228 | // } |
crmackey | 7:74c9a0fbf2b1 | 229 | // } |
crmackey | 7:74c9a0fbf2b1 | 230 | // |
crmackey | 7:74c9a0fbf2b1 | 231 | // |
crmackey | 7:74c9a0fbf2b1 | 232 | // } |
crmackey | 7:74c9a0fbf2b1 | 233 | // |
crmackey | 7:74c9a0fbf2b1 | 234 | //if (counter == 5) { |
crmackey | 7:74c9a0fbf2b1 | 235 | // m3pi.stop(); |
crmackey | 7:74c9a0fbf2b1 | 236 | // m3pi.cls(); |
crmackey | 7:74c9a0fbf2b1 | 237 | // m3pi.locate(0,0); |
crmackey | 7:74c9a0fbf2b1 | 238 | // m3pi.printf("Ave time"); |
crmackey | 7:74c9a0fbf2b1 | 239 | // TimeAve = (Time1 + Time2 + Time3 + Time4 + Time5)/5.0; |
crmackey | 7:74c9a0fbf2b1 | 240 | // m3pi.locate(0,1); |
crmackey | 7:74c9a0fbf2b1 | 241 | // m3pi.printf("%f", TimeAve); |
crmackey | 7:74c9a0fbf2b1 | 242 | // btbee.printf("Average time per lap: %f \n", TimeAve); |
crmackey | 7:74c9a0fbf2b1 | 243 | // btbee.printf("\n"); |
crmackey | 7:74c9a0fbf2b1 | 244 | // btbee.printf("Enter P value, I value, and D value separately \n"); |
crmackey | 7:74c9a0fbf2b1 | 245 | // |
crmackey | 7:74c9a0fbf2b1 | 246 | // while(1) { |
crmackey | 7:74c9a0fbf2b1 | 247 | // |
crmackey | 7:74c9a0fbf2b1 | 248 | // |
crmackey | 7:74c9a0fbf2b1 | 249 | // if (btbee.readable()) { |
crmackey | 7:74c9a0fbf2b1 | 250 | // |
crmackey | 7:74c9a0fbf2b1 | 251 | // btbee.printf("Enter P valure: \n"); |
crmackey | 7:74c9a0fbf2b1 | 252 | // |
crmackey | 7:74c9a0fbf2b1 | 253 | // |
crmackey | 7:74c9a0fbf2b1 | 254 | // btbee.read_all(arr_read, 30, &chars_read); |
crmackey | 7:74c9a0fbf2b1 | 255 | // P_TERM = atof(arr_read); |
crmackey | 7:74c9a0fbf2b1 | 256 | // |
crmackey | 7:74c9a0fbf2b1 | 257 | // btbee.printf("P term is %f \n", P_TERM); |
crmackey | 7:74c9a0fbf2b1 | 258 | // |
crmackey | 7:74c9a0fbf2b1 | 259 | // wait(1.0); |
crmackey | 7:74c9a0fbf2b1 | 260 | // |
crmackey | 7:74c9a0fbf2b1 | 261 | // break; |
crmackey | 7:74c9a0fbf2b1 | 262 | // |
crmackey | 7:74c9a0fbf2b1 | 263 | // } |
crmackey | 7:74c9a0fbf2b1 | 264 | // |
crmackey | 7:74c9a0fbf2b1 | 265 | // } |
crmackey | 7:74c9a0fbf2b1 | 266 | // |
crmackey | 7:74c9a0fbf2b1 | 267 | // while(1) { |
crmackey | 7:74c9a0fbf2b1 | 268 | // |
crmackey | 7:74c9a0fbf2b1 | 269 | // if(btbee.readable()) { |
crmackey | 7:74c9a0fbf2b1 | 270 | // |
crmackey | 7:74c9a0fbf2b1 | 271 | // btbee.printf("Enter I value: \n"); |
crmackey | 7:74c9a0fbf2b1 | 272 | // |
crmackey | 7:74c9a0fbf2b1 | 273 | // btbee.read_all(arr_read, 30, &chars_read); |
crmackey | 7:74c9a0fbf2b1 | 274 | // I_TERM = atof(arr_read); |
crmackey | 7:74c9a0fbf2b1 | 275 | // |
crmackey | 7:74c9a0fbf2b1 | 276 | // btbee.printf("I term is %f \n", I_TERM); |
crmackey | 7:74c9a0fbf2b1 | 277 | // |
crmackey | 7:74c9a0fbf2b1 | 278 | // wait(1.0); |
crmackey | 7:74c9a0fbf2b1 | 279 | // |
crmackey | 7:74c9a0fbf2b1 | 280 | // break; |
crmackey | 7:74c9a0fbf2b1 | 281 | // |
crmackey | 7:74c9a0fbf2b1 | 282 | // } |
crmackey | 7:74c9a0fbf2b1 | 283 | // |
crmackey | 7:74c9a0fbf2b1 | 284 | // } |
crmackey | 7:74c9a0fbf2b1 | 285 | // |
crmackey | 7:74c9a0fbf2b1 | 286 | // while(1) { |
crmackey | 7:74c9a0fbf2b1 | 287 | // |
crmackey | 7:74c9a0fbf2b1 | 288 | // if(btbee.readable()) { |
crmackey | 7:74c9a0fbf2b1 | 289 | // |
crmackey | 7:74c9a0fbf2b1 | 290 | // btbee.printf("Enter D value: \n"); |
crmackey | 7:74c9a0fbf2b1 | 291 | // |
crmackey | 7:74c9a0fbf2b1 | 292 | // btbee.read_all(arr_read, 30, &chars_read); |
crmackey | 7:74c9a0fbf2b1 | 293 | // D_TERM = atof(arr_read); |
crmackey | 7:74c9a0fbf2b1 | 294 | // |
crmackey | 7:74c9a0fbf2b1 | 295 | // btbee.printf("D term is %f \n", D_TERM); |
crmackey | 7:74c9a0fbf2b1 | 296 | // |
crmackey | 7:74c9a0fbf2b1 | 297 | // wait(1); |
crmackey | 7:74c9a0fbf2b1 | 298 | // |
crmackey | 7:74c9a0fbf2b1 | 299 | // btbee.printf("Starting again with new parameters"); |
crmackey | 7:74c9a0fbf2b1 | 300 | // |
crmackey | 7:74c9a0fbf2b1 | 301 | // counter = -1; |
crmackey | 7:74c9a0fbf2b1 | 302 | // |
crmackey | 7:74c9a0fbf2b1 | 303 | // |
crmackey | 7:74c9a0fbf2b1 | 304 | // break; |
crmackey | 7:74c9a0fbf2b1 | 305 | // |
crmackey | 7:74c9a0fbf2b1 | 306 | // } |
crmackey | 7:74c9a0fbf2b1 | 307 | // |
crmackey | 7:74c9a0fbf2b1 | 308 | // } |
crmackey | 7:74c9a0fbf2b1 | 309 | // |
crmackey | 7:74c9a0fbf2b1 | 310 | // } |
crmackey | 6:75a6f6b50188 | 311 | |
crmackey | 6:75a6f6b50188 | 312 | |
crmackey | 5:3f29267b18e3 | 313 | |
crmackey | 6:75a6f6b50188 | 314 | |
crmackey | 6:75a6f6b50188 | 315 | //if(timer < 0.005) { |
crmackey | 6:75a6f6b50188 | 316 | // wait(0.005 - timer); |
crmackey | 6:75a6f6b50188 | 317 | // } |
crmackey | 6:75a6f6b50188 | 318 | // timer = 0; |
crmackey | 6:75a6f6b50188 | 319 | // LoopTime.reset(); |
crmackey | 0:4d1ae7eb0070 | 320 | |
morganrose402 | 13:0b1e1e90f147 | 321 | fprintf(fp,"LOL"); |
morganrose402 | 13:0b1e1e90f147 | 322 | fclose(fp); |
crmackey | 0:4d1ae7eb0070 | 323 | } |
morganrose402 | 13:0b1e1e90f147 | 324 | |
crmackey | 6:75a6f6b50188 | 325 | } |