Arthur Oliveira / PTC3471

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Files at this revision

API Documentation at this revision

Revision 1:00b8f71cfe7e, committed 2017-08-07

Comitter:
ArthurCBdO
Date:
Mon Aug 07 22:32:23 2017 +0000
Parent:
0:f2bc43be0fc7
Commit message:
Template Zerado Funcionando de verdade

Changed in this revision

PTC3471.cpp Show annotated file Show diff for this revision Revisions of this file
PTC3471.h Show annotated file Show diff for this revision Revisions of this file 
--- a/PTC3471.cpp	Mon Aug 07 20:32:20 2017 +0000
+++ b/PTC3471.cpp	Mon Aug 07 22:32:23 2017 +0000
@@ -6,18 +6,18 @@
 DigitalOut Ctrl_Status(LED1);
 
 QEI * Ctrl_Encoder_Motor;
+Ticker * Controler_Interrupt;
 
 DigitalOut Ctrl_Direita(PTC1);
 DigitalOut Ctrl_Esquerda(PTD6);
 PwmOut Ctrl_Motor(PTD5);
 
 Ticker Ctrl_StatusOk;
-Ticker Ctrl_Leitura;
 Ticker Ctrl_Trava;
 
-double Ctrl_Phi = 0, Ctrl_Theta = 0;
-double Ctrl_Phi1 = 0, Ctrl_Theta1 = 0;
-double Ctrl_dPhi = 0, Ctrl_dTheta = 0;
+double Ctrl_Phi = 0;
+double Ctrl_Phi1 = 0;
+double Ctrl_dPhi = 0;
 
 void Ctrl_LerAngulos(void){
     Ctrl_Phi1 = Ctrl_Phi;
@@ -29,15 +29,19 @@
     Ctrl_LerAngulos();
     
     if(Ctrl_dPhi>=0.01){
-        Ctrl_Motor = min(3*Ctrl_dPhi, 0.7);
+        Ctrl_Motor = min(2*Ctrl_dPhi, 0.7);
         Ctrl_Direita = 1;
         Ctrl_Esquerda = 0;
     }
     else if(Ctrl_dPhi<=-0.01){
-        Ctrl_Motor = min(-3*Ctrl_dPhi, 0.7);
+        Ctrl_Motor = min(-2*Ctrl_dPhi, 0.7);
         Ctrl_Direita = 0;
         Ctrl_Esquerda = 1;
     }
+    else{
+        Ctrl_Direita=1;
+        Ctrl_Esquerda=1;
+    }
     
     if(Ctrl_Status==0){
         Ctrl_Status = 1;
@@ -48,11 +52,12 @@
 }
 
 void Ctrl_ChecarTrava(void){
+    Ctrl_LerAngulos();
     if(Ctrl_Phi>pi || Ctrl_Phi<-pi){
         Ctrl_StatusOk.detach();
-        Ctrl_Leitura.detach();
         Ctrl_Trava.detach();
-        Ctrl_Trava.attach(&Ctrl_Travar, 2*Ctrl_Ts);
+        Controler_Interrupt->detach();
+        Ctrl_Trava.attach(&Ctrl_Travar, Ctrl_Ts);
     }
 }
 
@@ -60,11 +65,11 @@
     Ctrl_Status = !Ctrl_Status;
 }
 
-void Protecao_Init(QEI* Encoder_Motor){
+void Protecao_Init(QEI* Encoder_Motor, Ticker* Control_Interrupt){
     Ctrl_Encoder_Motor = Encoder_Motor;
+    Controler_Interrupt = Control_Interrupt;
     Ctrl_Status = 1;
     Ctrl_StatusOk.attach(&Ctrl_BlinkOk, 1);
-    Ctrl_Leitura.attach(&Ctrl_LerAngulos, Ctrl_Ts);
     Ctrl_Trava.attach(&Ctrl_ChecarTrava, Ctrl_Ts);
     
     Ctrl_Motor = 0.0;

--- a/PTC3471.h	Mon Aug 07 20:32:20 2017 +0000
+++ b/PTC3471.h	Mon Aug 07 22:32:23 2017 +0000
@@ -9,7 +9,7 @@
 #define max(X, Y)  ((X) > (Y) ? (X) : (Y))
 
 #define pi 3.141592653589793
-#define Ctrl_Ts 0.01
+#define Ctrl_Ts 0.1
 
 #endif
 
@@ -17,4 +17,4 @@
 void Ctrl_Travar(void);
 void Ctrl_ChecarTrava(void);
 void Ctrl_BlinkOk(void);
-void Protecao_Init(QEI*);
\ No newline at end of file
+void Protecao_Init(QEI*, Ticker*);
\ No newline at end of file