der Roboter / Mbed 2 deprecated VariablesGradient

Explanation of Variables

Dependencies:   m3pi_ng mbed

Fork of BlueToothStuff by der Roboter

main.cpp@2:acc52907bcce, 2014-06-06 (annotated)

Committer:
bayagich
Date:
Fri Jun 06 09:46:32 2014 +0000
Revision:
2:acc52907bcce
Parent:
1:6402638c6f6d
Child:
3:ac07a11318f9
Has explanation of all the variables that will be used

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bayagich 2:acc52907bcce 1 //This will define all variables needed for the gradient equation
bayagich 2:acc52907bcce 2 // EQUATION: w(new) = a*w*cost(w*t) + c*sensor2*sin(wt) - d*(sensor2^2)*sin(wt)
bayagich 2:acc52907bcce 3 //u is modified by the w found, u = cos(wt)
bayagich 2:acc52907bcce 4 //leftspeed = left + u
bayagich 2:acc52907bcce 5 //rightspeed = right - u
bayagich 2:acc52907bcce 6
mmpeter 0:386c250325ce 7 #include "mbed.h"
mmpeter 0:386c250325ce 8 #include "m3pi_ng.h"
mmpeter 0:386c250325ce 9 #include "cmath"
mmpeter 0:386c250325ce 10 #include "iostream"
satyson 1:6402638c6f6d 11 #include "btbee.h"
mmpeter 0:386c250325ce 12
mmpeter 0:386c250325ce 13 using namespace std;
mmpeter 0:386c250325ce 14
mmpeter 0:386c250325ce 15 m3pi thinggy;
satyson 1:6402638c6f6d 16 btbee btbee;
mmpeter 0:386c250325ce 17
mmpeter 0:386c250325ce 18 int main() {
bayagich 2:acc52907bcce 19
bayagich 2:acc52907bcce 20 int sensor[5];
bayagich 2:acc52907bcce 21
bayagich 2:acc52907bcce 22 //w = angular frequency, which is modified after you take each time
bayagich 2:acc52907bcce 23 int w = 0.5;
bayagich 2:acc52907bcce 24
bayagich 2:acc52907bcce 25 //t = how frequently you change w
bayagich 2:acc52907bcce 26 //should be between 0.001 and 0.01
bayagich 2:acc52907bcce 27 int t = 0.001;
bayagich 2:acc52907bcce 28
bayagich 2:acc52907bcce 29 //variables in the equation to calculate angular frequency
bayagich 2:acc52907bcce 30 int a = 1;
bayagich 2:acc52907bcce 31 int c = 1;
bayagich 2:acc52907bcce 32 int d = 1;
bayagich 2:acc52907bcce 33
bayagich 2:acc52907bcce 34 //the middle sensor value you take every t seconds
bayagich 2:acc52907bcce 35 int sensor2;
bayagich 2:acc52907bcce 36
bayagich 2:acc52907bcce 37 //NOT DONE need variables for an equation that filters out noise
mmpeter 0:386c250325ce 38
bayagich 2:acc52907bcce 39 //this u alters left speed and right speed
bayagich 2:acc52907bcce 40 int u;
bayagich 2:acc52907bcce 41 int leftspeed = .01;
bayagich 2:acc52907bcce 42 int right speed = .01;
bayagich 2:acc52907bcce 43
bayagich 2:acc52907bcce 44 //read in sensor value
bayagich 2:acc52907bcce 45 thinggy.raw_sensor(sensor);
bayagich 2:acc52907bcce 46 sensor2 = sensor[2];
mmpeter 0:386c250325ce 47
bayagich 2:acc52907bcce 48 //variable if the best point is found
bayagich 2:acc52907bcce 49 int found = 0;
bayagich 2:acc52907bcce 50
bayagich 2:acc52907bcce 51 //loop to change w as it picks up values
bayagich 2:acc52907bcce 52 while(!found){
bayagich 2:acc52907bcce 53
bayagich 2:acc52907bcce 54
bayagich 2:acc52907bcce 55
bayagich 2:acc52907bcce 56 }//while(!found)
bayagich 2:acc52907bcce 57
bayagich 2:acc52907bcce 58
mmpeter 0:386c250325ce 59
mmpeter 0:386c250325ce 60
mmpeter 0:386c250325ce 61 }
mmpeter 0:386c250325ce 62
mmpeter 0:386c250325ce 63