Psi Swarm robot library version 0.9
Fork of PsiSwarmV9 by
Diff: psiswarm.cpp
- Revision:
- 18:9204f74069b4
- Parent:
- 17:bf614e28668f
- Child:
- 19:3e3b03d80ea3
diff -r bf614e28668f -r 9204f74069b4 psiswarm.cpp --- 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");