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Dependencies: BSP_DISCO_F746NG F746_GUI LCD_DISCO_F746NG SDFileSystem TS_DISCO_F746NG ResistiveTouchController Map CYS8218Controller MedianFilter
Revision 61:d16e5ad857ba, committed 2016-10-19
- Comitter:
- Kerneels Bezuidenhout
- Date:
- Wed Oct 19 22:13:09 2016 +0200
- Parent:
- 60:b6352a55d850
- Child:
- 62:58e846621435
- Commit message:
- hg update
Changed in this revision
--- a/Screens/AutomaticMoreScreen.cpp Wed Oct 19 20:07:26 2016 +0000
+++ b/Screens/AutomaticMoreScreen.cpp Wed Oct 19 22:13:09 2016 +0200
@@ -4,8 +4,8 @@
Screen(),
_lbTitle( SCREEN_W/2, 0, "More", Label::CENTER, Font24),
_btBack(0,SCREEN_H-30,100,30,"Back"),
- _btManualSP(0, 27, SCREEN_W, 30, "Manual Tracking"),
- _btSquare(0,27+35, SCREEN_W, 30, "Square")
+ _btManualSP(0, 27, SCREEN_W/2-5, SCREEN_H-35-27, "Manual Tracking"),
+ _btSquare(SCREEN_W/2+5,27, SCREEN_W/2-5, SCREEN_H-35-27, "Square")
{
_nextScreen = nextScreen;
}
--- a/Screens/AutomaticSettingsScreen.cpp Wed Oct 19 20:07:26 2016 +0000
+++ b/Screens/AutomaticSettingsScreen.cpp Wed Oct 19 22:13:09 2016 +0200
@@ -10,8 +10,8 @@
_btI(SCREEN_W/2, 61, 100, 30, "Change"),
_nlbD(0,96, "D =%.3f", *D, Label::LEFT, Font20),
_btD(SCREEN_W/2, 96, 100, 30, "Change"),
- _nlbTs(0,131, "Sample Time (ms)=%.0f", *Ts, Label::LEFT, Font20),
- _btTs(SCREEN_W/2, 155, 100, 30, "Change")
+ _nlbTs(0,131, "Ts (ms)=%.0f", *Ts, Label::LEFT, Font20),
+ _btTs(SCREEN_W/2, 131, 100, 30, "Change")
//TODO Improve layout of this screen
{
_nextScreen = nextScreen;
--- a/main.cpp Wed Oct 19 20:07:26 2016 +0000
+++ b/main.cpp Wed Oct 19 22:13:09 2016 +0200
@@ -45,9 +45,9 @@
//-- Controller Variables
-float P = 0;
+float P = 0.1;
float I = 0;
-float D = 0;
+float D = 10;
float Ts = 0.004;
Timer cycleTimer;
//-----------------------
@@ -106,8 +106,9 @@
Automatic();
break;
default :
- xMotor.Off();
- yMotor.Off();
+ xMotor.Set(0);
+ yMotor.Set(0);
+ Thread::wait(20);
break;
}
}
@@ -257,6 +258,11 @@
xMotor.Set(alpha);
yMotor.Set(-beta);
+ if( Ts > 0)
+ Ts /= 1000;
+
+ while( cycleTimer.read() > Ts);
+
cycleTimer.stop();
measuredTs = cycleTimer.read_ms();
cycleTimer.reset();