TeamSurface
/
RT2_P3
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Dependencies: mbed
Fork of
RT2_P3_students_G4
by 
RT2_P3_students
Diff: main.cpp
- Revision:
- 8:72f260c467ad
- Parent:
- 7:01a7363583b2
- Child:
- 9:67ee46be0403
--- a/main.cpp Sun Apr 22 19:54:59 2018 +0000
+++ b/main.cpp Tue Apr 24 09:13:59 2018 +0000
@@ -53,6 +53,14 @@
//------------------------------------------
//LinearCharacteristics i2u(0.8f,-2.0f);
LinearCharacteristics i2u(-2.0f,2.0f,0.0f,3.2f);
+LinearCharacteristics ax2ms2(0.2972f,0.7028f,-9.81,9.81);
+LinearCharacteristics ay2ms2(0.29866f,0.70134f,-9.81,9.81);
+LinearCharacteristics gz2om(4.6517f,1.4852f);
+//-------------DEFINE FILTERS----------------
+float tau = 1.0f;
+IIR_filter f_ax(tau,Ts,1.0f); // filter ax signals
+IIR_filter f_ay(tau,Ts,1.0f); // filter ay signals
+IIR_filter f_gz(tau,Ts,tau); // filter gz signals
//------------------------------------------
Ticker ControllerLoopTimer; // interrupt for control loop
@@ -96,9 +104,13 @@
out.write(i2u(torq_des/0.217f)); // the controller! convert torque to Amps km = 0.217 Nm/A
*/
+ //float phi1 = atan2(-f_ax(ax2ms2(ax.read())),f_ay(ax2ms2(ay.read()))) + PI/4.0f + f_gz(gz2om(gz.read()*3.3f));
+ float fax = f_ax(ax2ms2(ax.read()));
+ float fay = f_ay(ay2ms2(ay.read()));
if(++k >= 249){
k = 0;
- pc.printf("Some Output %3.3f\r\n",1.11111);
+ //pc.printf("Phi1: %1.5f \r\n",phi1);
+ pc.printf("f_ax: %1.5f f_ay: %1.5f \r\n",fax,fay);
}
}
//******************************************************************************