Edwin Cho
/
FLOW_DERP
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Dependencies: BMP280 BNO055_fusion PowerControl mbed
Fork of
STRAIGHT_DRIVE_NO_SEP
by 
Antoine Laurens
Revision 34:083073e54dbd, committed 2016-04-20
- Comitter:
- alaurens
- Date:
- Wed Apr 20 18:25:43 2016 +0000
- Parent:
- 33:baf24c59affc
- Child:
- 35:68917796c30a
- Commit message:
- df
Changed in this revision
--- a/LOCOMOTION.cpp Wed Apr 20 16:11:08 2016 +0000
+++ b/LOCOMOTION.cpp Wed Apr 20 18:25:43 2016 +0000
@@ -57,16 +57,16 @@
else
s=((SPEED_X_MAX-SPEED_X_MIN)*abs(current-target)/FRAME_W)+SPEED_X_MIN;
if(current>target+error) {
- if(angle==0) {
+ if(angle==0+TILTZZ) {
+ _m1dir=0;
+ _m2dir=0;
+ } else {
_m1dir=1;
_m2dir=1;
- } else {
- _m1dir=0;
- _m2dir=0;
}
setMotors(s);
} else if(current<target-error) {
- if(angle==0) {
+ if(angle==0+TILTZZ) {
_m1dir=0;
_m2dir=0;
} else {
@@ -124,7 +124,6 @@
else
s=((SPEED_TURN_MAX-SPEED_TURN_MIN)*abs(wrap(current+diff)-180)/180)+SPEED_TURN_MIN;
switch(mode) {
- default:
case ANGLE_TURN:
if(wrap(current+diff)>180+error) {
_m1dir=0;
@@ -167,14 +166,14 @@
switch(*xCurrState) {
case X_INCREASE:
- *angleGoal=0;
+ *angleGoal=0+TILTZZ;
_m1dir=0;
_m2dir=0;
*xTarget=X_FAR_GOAL;
break;
case X_DECREASE:
- *angleGoal=0;
+ *angleGoal=0-TILTZZ;
_m1dir=1;
_m2dir=1;
*xTarget=X_NEAR_GOAL;
--- a/LOCOMOTION.h Wed Apr 20 16:11:08 2016 +0000
+++ b/LOCOMOTION.h Wed Apr 20 18:25:43 2016 +0000
@@ -9,9 +9,9 @@
#define SPEED_TURN_MAX 0.60//0.45
#define Y_BIAS_MIN 0.75
#define Y_BIAS_MAX 1.00
-#define SPEED_X_MIN 0.10
-#define SPEED_X_MAX 0.35
-#define GAIN_GRAVITY 0.75
+#define SPEED_X_MIN 0.15
+#define SPEED_X_MAX 0.25
+#define GAIN_GRAVITY 0.5
#define M_PI 3.1415926535897932384
#define X_STOP 0
@@ -28,7 +28,7 @@
#define Y_INCREMENT 7
#define FRAME_HE 180
#define ROB_SIZE 34
-#define TILTZZ 5
+#define TILTZZ -5
enum {
ANGLE_TURN = 0,
--- a/main.cpp Wed Apr 20 16:11:08 2016 +0000
+++ b/main.cpp Wed Apr 20 18:25:43 2016 +0000
@@ -86,12 +86,12 @@
wait(0.5);
suction.pulsewidth_us(1150);
wait(0.5);
- suction.pulsewidth_us(1200);
- wait(0.5);
suction.pulsewidth_us(1250);
wait(0.5);
+ suction.pulsewidth_us(1300);
+ wait(0.5);
while(1) {
- suction.pulsewidth_us(1300);
+ suction.pulsewidth_us(1350);
/*pressure=(int)read[0];//(int)pres.getTemperature();
if(pressure==88)
led1=1;
@@ -107,11 +107,11 @@
motion.check_xya(&xGood,&yGood,&angleGood,xTarget,angleTarget,yTarget,xya,3,3,angle_error);
motion.setXstate(&xState,&xTarget,xGood,angleGood,&angleTarget,&angle_error,yTarget);
- motion.setAngleTol(&angle_error,yGood,xGood);
- motion.setYgoal(xGood,angleGood,yGood,&yTarget);
+ //motion.setAngleTol(&angle_error,yGood,xGood);
+ // motion.setYgoal(xGood,angleGood,yGood,&yTarget);
if(motion.setAngle(angleTarget,xya.a,angle_error,ANGLE_TURN)) {
motion.setXPos(xTarget,xya.x,2,angleTarget);
- motion.setYBias(yTarget,xya.y,2,angleTarget);
+ // motion.setYBias(yTarget,xya.y,2,angleTarget);
}
//loc.get_xy(&xya);