update with altimeter, swimfile.txt endleg.txt, etc see changes_13sep.txt also reset_PI()
Dependencies: mbed MODSERIAL FATFileSystem
Diff: main.cpp
- Revision:
- 55:f4ec445c42fe
- Parent:
- 54:d4990fb68404
- Child:
- 56:48a8a5a65b82
--- a/main.cpp Fri Jun 08 13:56:30 2018 +0000 +++ b/main.cpp Tue Jun 12 15:41:51 2018 +0000 @@ -22,6 +22,9 @@ * added readADCCounts() to omegaPX209 class to see channel readings * modified omegaPX209 class to use filtered ADC readings from SpiADC.readCh4() - fixed rudderLoop to headingLoop from newer code + Modified FSG PCB V2 + - added init headingLoop to main + - added pitch and heading outputs to STREAM_STATUS NOTE: Flipped motor controller output on connector side with battery mass mover (BMM) - Motor direction was opposite the BCE motor (because of gearing) @@ -96,6 +99,11 @@ pitchLoop().init(); pitchLoop().start(); pitchLoop().setCommand(stateMachine().getPitchCommand()); + + //new 6/8/2018 for testing + headingLoop().init(); + headingLoop().setCommand(0.0); //setting heading to 0 for testing + //new 6/8/2018 for testing // show that the PID gains are loading from the file pc().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %6.1f mm, slope %0.5f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());