Revision 48:597738b77f77, committed 2019-08-13

Comitter:

DavidEGrayson

Date:

Tue Aug 13 21:21:17 2019 +0000

Parent:

47:9773dc14c834

Commit message:

Changes from before the contest, I think.

Changed in this revision

--- a/logger.h	Wed Jul 31 07:14:09 2019 +0000
+++ b/logger.h	Tue Aug 13 21:21:17 2019 +0000
@@ -2,7 +2,7 @@
 
 #include <stdint.h>
 
-#define LOGGER_SIZE 2000
+#define LOGGER_SIZE 3000
 
 struct LogEntry
 {

--- a/main.cpp	Wed Jul 31 07:14:09 2019 +0000
+++ b/main.cpp	Tue Aug 13 21:21:17 2019 +0000
@@ -22,13 +22,14 @@
 TurnSensor turnSensor;
 Logger logger;
 
+const uint32_t timeout = 0;
+
+const uint32_t logSpacing = 200;
+
+const int16_t drivingSpeed = 500;
+
 uint32_t totalEncoderCounts = 0;
 uint32_t nextLogEncoderCount = 0;
-const uint32_t logSpacing = 250;
-
-const int16_t drivingSpeed = 400;
-
-const uint32_t timeout = 1*60000;
 
 
 void setLeds(bool v1, bool v2, bool v3, bool v4)

--- a/turn_sensor.cpp	Wed Jul 31 07:14:09 2019 +0000
+++ b/turn_sensor.cpp	Tue Aug 13 21:21:17 2019 +0000
@@ -52,14 +52,16 @@
         
         if (rate > 0)
         {
-          // Counter-clockwise scale factor calculated from log_190730_2.csv.
-          const double scale = 1.012394298;
+          // Counter-clockwise scale factors from
+          // log_190730_2.csv and log_190801_4.csv.
+          const double scale = 1.012394298 * 0.998207092;
           angleUnsigned += (int64_t)d * (int32_t)(14680064 * scale) / 17578125;
         }
         else
         {
-          // Clockwise scale factor calculated from log_190730_3.csv.
-          const double scale = 0.992376154;
+          // Clockwise scale factor calculated from
+          // log_190730_3.csv and then log_190801_3.csv.
+          const double scale = 0.992376154 * 0.999892525;
           angleUnsigned += (int64_t)d * (int32_t)(14680064 * scale) / 17578125;
         }
     }