Diff: main.cpp

Revision:

1:087dfa2bff27

Parent:

0:8e7dc5d573f7

--- a/main.cpp	Sat Sep 08 09:50:53 2018 +0000
+++ b/main.cpp	Sun Sep 16 07:03:07 2018 +0000
@@ -46,7 +46,7 @@
     Timer myTime;
     myTime.reset();
     myTime.start();
-    pc.baud(19200);
+    pc.baud(57600);
     while(1) {
         IRread1     =   IRpin1.read();
         IRread2     =   IRpin2.read();
@@ -76,23 +76,28 @@
         
         speedDiff = (errL*0.004);// + (0.0001*((err - prv_err)/samp_time));
         
-        voltR = 12.0 + speedDiff;
-        voltL = 12.0 - speedDiff;
+        voltR = 12.0 - speedDiff;
+        voltL = 12.0 + speedDiff;
         
         //voltR = voltR*1.0;
         //voltL = voltL*1.0;
         
-        voltRF = ( samp_time * voltR + (tau * prv_voltRF) ) / ( samp_time + tau);
-        voltLF = ( samp_time * voltL + (tau * prv_voltLF) ) / ( samp_time + tau);
-
-        if (voltRF>0)    {  pin_R1 = 1; pin_R2 = 0; }
-        else            {  pin_R1 = 0; pin_R2 = 1; }
-        if (voltLF>0)    {  pin_L1 = 1; pin_L2 = 0; }
-        else            {  pin_L1 = 0; pin_L2 = 1; }
+       voltRF = ( samp_time * voltR + (tau * prv_voltRF) ) / ( samp_time + tau);
+       voltLF = ( samp_time * voltL + (tau * prv_voltLF) ) / ( samp_time + tau);
+       // voltRF = 10.0;
+        //voltLF = 10.0;
+        if (voltRF>8)     {voltRF = 8;}
+        else            {voltRF = voltRF;}
+        if (voltLF>8)     {voltLF = 8;}
+        else            {voltLF = voltLF;}
+        
+        if (voltRF>0)    {  pin_R1 = 0; pin_R2 = 1; }
+        else            {  pin_R1 = 1; pin_R2 = 0; }
+        if (voltLF>0)    {  pin_L1 = 0; pin_L2 = 1; }
+        else            {  pin_L1 = 1; pin_L2 = 0; }
         
         pwmR  = (abs(voltRF)/12.0); 
         pwmL  = (abs(voltLF)/12.0); 
-        
         if (pwmR>1)     {pwmR = 1;}
         else            {pwmR = pwmR;}
         if (pwmL>1)     {pwmL = 1;}
@@ -100,9 +105,11 @@
         
         //pc.printf("  %f   %d   %d   %f  %f   %f   %f  %f     %d    %d     %d     %d     %d\r", now_time, des, act, err, errL, errF, voltL, voltR, IRread1, IRread2, IRread3, IRread4, IRread5 );
         //pc.printf("  %f    %f    %f\r", err, errL, errF);
-        pc.printf(" %d  %d  %f  %f  %f", des,act,err,now_omg1,now_omg2);
+        //pc.printf(" %d  %d  %f  %f  %f", des,act,err,now_omg1,now_omg2);
+        pc.printf("%f  %f", now_omg1,now_omg2);
         printf("\n\r");
-
+        //on left motor, red and black cables are crossed-connected to have forward movement when pin_L1=1 & pin_L2=0.
+        //on breadboard, + line represent +5v. - line represent GND. 12v is only used to supply L298.
         prv_time    = now_time;
         prv_ang1    = now_ang1;
         prv_ang2    = now_ang2;