190605
Dependencies: WS2812 RemoteIR PixelArray Adafruit_GFX
Diff: main.cpp
- Revision:
- 110:13f123179c26
- Parent:
- 109:66ba5700bf74
- Child:
- 111:dc3d8ba48f83
--- a/main.cpp Wed Jun 12 07:52:30 2019 +0000 +++ b/main.cpp Wed Jun 12 08:22:54 2019 +0000 @@ -294,11 +294,11 @@ // set range under 1000 set_ir_val(); - + // get current position get_pos(); - pc.printf("pos: %d\r\n", pos); - pc.printf("on_line: %d\r\n\n", on_line); +// pc.printf("pos: %d\r\n", pos); +// pc.printf("on_line: %d\r\n\n", on_line); tracing_pid(); @@ -321,21 +321,25 @@ sensor_values[i] = x; } - + + for(int i = 0; i < NUM_SENSORS; i++){ + pc.printf("sensor_values[%d]: %d\r\n",i, sensor_values[i]); + } + pc.printf("\r\n"); // finish line - if(sensor_values[0] < 500 && sensor_values[1] < 500 && sensor_values[2] < 500 && sensor_values[3] < 500 && sensor_values[4] < 500){ - count_stop ++; - if(count_stop > 7){ + if(sensor_values[0] < 300 && sensor_values[1] < 300 && sensor_values[2] < 300 && sensor_values[3] < 300 && sensor_values[4] < 300){ +// count_stop ++; +// if(count_stop > 7){ timer_flag = 1; motor.stop(); bottom_led(); - } +// } } - else{ - count_stop = 0; - } +// else{ +// count_stop = 0; +// } } @@ -387,7 +391,7 @@ int power_difference = proportional / motor.kp+ derivative * motor.kd; - const float std = 980.0; + const float std = 970.0; if(power_difference > motor.max) power_difference = motor.max;