Clone per testare Mbed studio
Dependencies: PwmIn IONMcMotor MPU6050 Eigen ROVER
Fork of Hyfliers_Completo_testato by
Diff: main.cpp
- Revision:
- 4:3f22193053d0
- Parent:
- 3:fc26045926d9
- Child:
- 6:584653235830
diff -r fc26045926d9 -r 3f22193053d0 main.cpp --- a/main.cpp Wed Nov 06 10:57:51 2019 +0000 +++ b/main.cpp Wed Jan 08 11:05:36 2020 +0000 @@ -6,7 +6,7 @@ //#include "MX.h" //#include "UARTSerial_half.h" -#define DEBUG false +#define DEBUG true #define READ true @@ -34,9 +34,10 @@ float vels_m = 0.0; float vela_m = 0.0; - float vel_dx = 0.0; - float vel_sx = 0.0; - float vel_r = 0.0; + float front_vel_dx = 0.0; + float front_vel_sx = 0.0; + float retro_vel_dx = 0.0; + float retro_vel_sx = 0.0; float forward_vel = 0.0; float pitch; @@ -121,7 +122,7 @@ timeReadPrec = time; //rover.getRoverVelocity(velf_m, vels_m, vela_m, 0.125); - rover.getRoverWheelsVelocity(vel_dx, vel_sx, vel_r); + rover.getRoverWheelsVelocity(front_vel_dx, front_vel_sx, retro_vel_dx, retro_vel_sx); } @@ -130,7 +131,7 @@ if(DEBUG && time - timePrintPrec > dtPrint){ timePrintPrec = time; - //printf("Ts: %4.2f \t M2-M1 : %2.1f \r\n",dtPassedStab*1000,frontDistance); + printf("Ts: %4.2f \t M2-M1 : %2.1f \r\n",dtPassedStab*1000,frontDistance); //printf(" Ts: %4.2f \t Vfa: %4.4f \t Vfm %4.4f \t Vsa: %4.4f \t Vsm: %4.4f \t A: %4.4f \r\n",dtPassedStab*1000, velf_a, velf_m, vels_a, vels_m, amplitude); @@ -148,7 +149,7 @@ } - rover.ethComunicationUpdate(schedulerTimer.read(), pitch, frontDistance, retroDistance, dtPassedStab*1000, vel_r); + rover.ethComunicationUpdate(schedulerTimer.read(), pitch, frontDistance, retroDistance, dtPassedStab*1000, velf_a); //rover.ethComunicationUpdate(schedulerTimer.read(), pitch, velf_m, vels_m, dtPassedStab*1000, vel_r);