Diff: main.cpp

Revision:

16:be88d07a24fe

Parent:

14:a243e6a78b2c

Child:

19:14b4b90bdf46

--- a/main.cpp	Tue Mar 17 15:13:37 2015 +0000
+++ b/main.cpp	Thu Mar 19 16:59:37 2015 +0000
@@ -26,6 +26,34 @@
 float desired_duty_r; //USED FOR PD_CONTROL() SET IN set_dir()
 float desired_duty_l;
 
+float   pres_duty_r, pres_duty_l; 
+float   a_ratio;
+float   desired_ratio; 
+float   perc_r;
+float   perc_l;
+float   perc_tot;
+float   threshold; 
+float   limit;
+float   inc_value;
+
+//HALL EFFECT INITIALISATIONS
+Timer h_r, h_l;
+float hall_rt1, hall_lt1, hall_rt2, hall_lt2 = 0; //hall right time & left time
+float hall_rdt, hall_ldt;
+int h_f_r, h_f_l; //hallflagright and left 
+
+void init_PD ()
+{
+    //all these values have to be global; this function gets called each time there's a new direction/desired speed
+    a_ratio = hall_ldt/hall_rdt; //actual_ratio
+    desired_ratio = desired_duty_l/desired_duty_r; //desired_duty comes from set_direction()
+    perc_r = (1-((desired_duty_r-0.1)/desired_duty_r));//absolute vlaue of +-0.1 duty means a differnt percentage error for each duty value
+    perc_l = (1-((desired_duty_l-0.1)/desired_duty_l));
+    perc_tot = perc_r + perc_l;
+    threshold = desired_ratio*perc_tot; //dynamic threshold that will change according to duties
+    limit = 0.2*((desired_duty_l + desired_duty_r)/2); //twenty percent of the average duty
+    inc_value = 0.05*((desired_duty_l + desired_duty_r)/2); //probably need to change 5% from testing
+}
 void set_direction( int direction, float duty_l, float duty_r)
 {
     desired_duty_r = duty_r; //USED FOR PD_CONTROL()
@@ -81,11 +109,8 @@
     init_PD ();
 }
 
-//HALL EFFECT INITIALISATIONS
-Timer h_r, h_l;
-float hall_rt1, hall_lt1, hall_rt2, hall_lt2 = 0; //hall right time & left time
-float hall_rdt, hall_ldt;
-int h_f_r, h_f_l; //hallflagright and left
+
+
 void hallr() //this just reading the various times.
 {
     if (h_f_r==2) {
@@ -106,7 +131,7 @@
         h_f_r = 1;
         hall_rdt = hall_rt2-hall_rt1;
     }
-    blue.printf("Hall_R dt : %f\n", hall_rdt);
+    //blue.printf("Hall_R dt : %f\n", hall_rdt);
 
 }
 void halll()
@@ -134,28 +159,9 @@
     blue.printf("Hall_L dt : %f\n", hall_ldt);
 
 }
-float   pres_duty_r, pres_duty_l; 
-float   a_ratio;
-float   desired_ratio; 
-float   perc_r;
-float   perc_l;
-float   perc_tot;
-float   threshold; 
-float   limit;
-float   inc_value; 
+
 
-void init_PD ()
-{
-    //all these values have to be global; this function gets called each time there's a new direction/desired speed
-    a_ratio = hall_ldt/hall_rdt; //actual_ratio
-    desired_ratio = desired_duty_l/desired_duty_r; //desired_duty comes from set_direction()
-    perc_r = (1-((desired_duty_r-0.1)/desired_duty_r));//absolute vlaue of +-0.1 duty means a differnt percentage error for each duty value
-    perc_l = (1-((desired_duty_l-0.1)/desired_duty_l));
-    perc_tot = perc_r + perc_l;
-    threshold = desired_ratio*perc_tot; //dynamic threshold that will change according to duties
-    limit = 0.2*((desired_duty_l + desired_duty_r)/2); //twenty percent of the average duty
-    inc_value = 0.05*((desired_duty_l + desired_duty_r)/2); //probably need to change 5% from testing
-}
+
 void PD_control ()
 {
 
@@ -208,7 +214,7 @@
     motor_lf=0;
     motor_lb=0;
     wait(1);
-    set_direction(0x11, 0.2,0.2);
+    set_direction(0x11, 0.5,0.5);
     while(1) {
     }
 }