Diff: psiswarm.cpp

Revision:

18:9204f74069b4

Parent:

17:bf614e28668f

Child:

19:3e3b03d80ea3

--- a/psiswarm.cpp	Sun Jun 04 13:11:09 2017 +0000
+++ b/psiswarm.cpp	Sun Jun 04 20:22:41 2017 +0000
@@ -108,6 +108,8 @@
 char base_colour_calibration_set;
 float left_motor_calibration_value = 1.0;
 float right_motor_calibration_value = 1.0;
+float left_motor_stall_offset = 0.0;
+float right_motor_stall_offset = 0.0;
 
 char debug_mode = DEBUG_MODE;
 char debug_output = DEBUG_OUTPUT_STREAM;
@@ -146,6 +148,7 @@
 char user_code_running = 0;
 char user_code_restore_mode = 0;
 char system_warnings = 0;
+short boot_count = 0;
 
 vector<string> basic_filenames; //filenames are stored in a vector string
 char psi_basic_file_count = 0;
@@ -194,7 +197,7 @@
                     use_motor_calibration = 0;
                 }
             } else {
-                debug("- Motor calibration in use [LEFT:%0.4f RIGHT:%0.4f]",left_motor_calibration_value,right_motor_calibration_value);
+                debug("- Motor calibration in use\n- [LEFT:%0.4f (%1.2f OFFSET) RIGHT:%0.4f (%2.3f OFFSET)]\n",left_motor_calibration_value,left_motor_stall_offset,right_motor_calibration_value,right_motor_stall_offset);
             }
         }
         if(base_ir_calibration_set != 1) {
@@ -207,7 +210,9 @@
             }
             // Set default calibration values for base IR sensor
             sensors.IF_set_base_calibration_values(BIR1W,BIR2W,BIR3W,BIR4W,BIR5W,BIR1B,BIR2B,BIR3B,BIR4B,BIR5B);
-        } else debug("- Using base IR calibration values stored in firmware\n");
+        } else {
+            debug("- Using base IR calibration values stored in firmware\n- %s\n",sensors.IF_get_base_calibration_values_string());
+        }
         if(has_base_colour_sensor == 1 && base_colour_calibration_set != 1){
             if(firmware_version < 1.2) {
                 debug("- WARNING: This firmware is incompatible with base colour sensor calibration\n");
@@ -217,9 +222,13 @@
                 debug("- WARNING: Run sensor calibration routine to use this feature.\n");
             }
             // Set default calibration values for base colour sensor
+            
             colour.set_calibration_values(CS_C_BLACK,CS_R_BLACK,CS_G_BLACK,CS_B_BLACK,CS_C_WHITE,CS_R_WHITE,CS_G_WHITE,CS_B_WHITE);
-        } else debug("- Using base colour sensor calibration values stored in firmware\n");
+        } else {
+            debug("- Using base colour sensor calibration values stored in firmware\n- %s\n",colour.IF_get_calibration_values_string());
+            }
         if(firmware_version < TARGET_FIRMWARE_VERSION && AUTO_UPDATE_FIRMWARE == 1) eprom.update_firmware();
+        if(firmware_version > 1.1) debug("- Boot Count: %d\n",boot_count);
     } else {
         debug("INVALID\n");
         debug("- WARNING: Check firmware to enable robot features\n");