TrekkingPhoenix / Mbed 2 deprecated TrekkingControllerV1-4_WinterChallenge20

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Dependencies:   mbed mbed-rtos MotionSensor EthernetInterface

Files at this revision

API Documentation at this revision

Revision 4:8ead8ada8a8b, committed 2016-04-17

Comitter:
drelliak
Date:
Sun Apr 17 01:01:17 2016 +0000
Parent:
3:e213c44a9f6c
Child:
6:c930555fd872
Commit message:
reupload

Changed in this revision

MotionSensor.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/MotionSensor.lib	Mon Apr 11 21:24:52 2016 +0000
+++ b/MotionSensor.lib	Sun Apr 17 01:01:17 2016 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/teams/components/code/MotionSensor/#226520fc09bf
+http://mbed.org/teams/components/code/MotionSensor/#4d6e28d4a18a

--- a/main.cpp	Mon Apr 11 21:24:52 2016 +0000
+++ b/main.cpp	Sun Apr 17 01:01:17 2016 +0000
@@ -45,7 +45,7 @@
 void magCal();
 
 // State variables
-float sensor, velocity;
+float feedback, velocity;
 void readProtocol();
 void brakeMotor();
 // Test functions
@@ -68,13 +68,13 @@
     startGyro();
     // main loop
         while (true){
-        processGyroAngle();
-        controlAnglePID(P,I,D,N);
-        //debug();
-        if(t.read_us() < Ts*1000000)
-            wait_us(Ts*1000000 - t.read_us());
-        if(ser.readable())
-            readProtocol();
+            processGyroAngle();
+            controlAnglePID(P,I,D,N);
+            //debug();
+            if(t.read_us() < Ts*1000000)
+                wait_us(Ts*1000000 - t.read_us());
+            if(ser.readable())
+                readProtocol();
         }
 }
 
@@ -146,18 +146,18 @@
     gyro_angle = gyro_angle + (gyro_data[2] + GYRO_OFFSET)*(double)(t.read_us())/1000000;
     t.reset();
     t.start();
-    sensor = gyro_angle;
-    if(sensor > 180)
-        sensor = sensor - 360;
-    if(sensor < -180)
-        sensor = sensor + 360;
+    feedback = gyro_angle;
+    if(feedback > 180)
+        feedback = feedback - 360;
+    if(feedback < -180)
+        feedback = feedback + 360;
 }
 
 /* PID controller for angular position */
 void controlAnglePID(float P, float I, float D, float N){ 
     /* Getting error */
     e[1] = e[0];
-    e[0] = reference - (sensor*PI/180);
+    e[0] = reference - (feedback*PI/180);
     if(e[0] > PI)
       e[0]= e[0] - 2*PI;
     if(e[0] < -PI)
@@ -194,7 +194,7 @@
 void debug(){
     //printf("ERROR: %f Up: %f Ui: %f Ud: %f U: %f \r\n", e[0]*180/3.1415, up[0]*100/(3.1415/8), ui[0]*100/(3.1415/8), ud[0]*100/(3.1415/8),u*100/(3.1415/8));
     //printf("Erro: %f  Sensor: %f Magnetometer: %f \r\n",e[0]*180/PI,sensor,processMagAngle(0)*180/PI);
-    printf(" %f \r\n",sensor);
+    printf(" %f \r\n",feedback);
 }
 
 /* Function to normalize the magnetometer reading */