Revision 110:13f123179c26, committed 2019-06-12

Comitter:

Jeonghoon

Date:

Wed Jun 12 08:22:54 2019 +0000

Parent:

109:66ba5700bf74

Child:

111:dc3d8ba48f83

Commit message:

last_stable_test

Changed in this revision

--- 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;