update with altimeter, swimfile.txt endleg.txt, etc see changes_13sep.txt also reset_PI()
Dependencies: mbed MODSERIAL FATFileSystem
Diff: main.cpp
- Revision:
- 3:7824127c5cfd
- Parent:
- 2:892b58e56712
- Child:
- 4:66f13fbb035d
--- a/main.cpp Fri Oct 06 13:25:26 2017 +0000 +++ b/main.cpp Fri Oct 06 21:16:55 2017 +0000 @@ -17,14 +17,18 @@ #define BATT_ZERO 100 //counts #define BATT_LIMIT 50.0 //mm -#include <fstream> -#include <iostream> - int main() -{ - //initialize linear actuator objects (doesn't work) +{ + local(); //this makes sure the local file system is constructed + + //Read in and load the BCE parameters from the text file "bce.txt" load_BCE_config(); + ////Read in and load the battery mover parameters from the text file "batt.txt" + + // do not leave this in. It is just there to check that things are working + pc().printf("\n\rP: %3.2f I: %3.2f D %3.2f zero: %3i limit %3.2f slope %3.2f", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope()); + //Front load the desired parameters into the linear acuator objects. //This could be done using ConfigFile, if it worked @@ -32,13 +36,6 @@ //actuator's PID objects. I noticed I have defaults that are appropriate for only //the bouyancy engine - bce().setControllerP(BCE_P); - bce().setControllerI(BCE_I); - bce().setControllerD(BCE_D); - bce().setZeroCounts(BCE_ZERO); - bce().setTravelLimit(BCE_LIMIT); - bce().setPotSlope(POT_SLOPE); - batt().setControllerP(BATT_P); batt().setControllerI(BATT_I); batt().setControllerD(BATT_D);