Revision 21:c5713aafdc9d, committed 2013-04-09

Comitter:

LtBarbershop

Date:

Tue Apr 09 18:11:38 2013 +0000

Parent:

20:344c088d3ead

Child:

22:3cda0d788452

Commit message:

April 5th, 2013 - continued work on wall following.

Changed in this revision

--- a/main.cpp	Fri Apr 05 17:41:23 2013 +0000
+++ b/main.cpp	Tue Apr 09 18:11:38 2013 +0000
@@ -18,7 +18,7 @@
 const float PWMPeriod = 0.00005;
 // Control Update = 50ms (time should be 609/610) (if we want to change this we also have to change the way feedback speed is calculated)
 //#define ControlUpdate 0.05
-const float ControlUpdate = 0.05;
+const float ControlUpdate = 0.04;
 #define EncoderTime 610
 
 
@@ -61,7 +61,7 @@
 float DR = 0;
 float TSpeedL = 0;
 float TSpeedR = 0;
-float Turn = 0.03;
+float Turn = 0.05;
 float aeW = 0;
 float eW = 0;
 float uW = 0; 
@@ -70,8 +70,8 @@
 float Nominal = 35;
 float Kpos = 0.01;
 float Kor = 0.0;
-float KpW = 0.1;
-float KiW = 0.2;
+float KpW = 0.3;
+float KiW = 0.0;
 
 
 Mutex Var_Lock;
@@ -184,7 +184,8 @@
                         break;
                     case 'r':
                         action = 4;
-                        
+                        userSetL = 0.2;
+                        userSetR = 0.2;
                         break;
                     default:
                         BtS.printf("\n\r Command not recognized \n\r");
@@ -200,12 +201,12 @@
                 switch(c)
                 {
                     case('w'):
-                        userSetL = userSetL + 0.05;
-                        userSetR = userSetR + 0.05;
+                        userSetL = userSetL + 0.075;
+                        userSetR = userSetR + 0.075;
                         break;
                     case('s'):
-                        userSetL = userSetL - 0.05;
-                        userSetR = userSetR - 0.05;
+                        userSetL = userSetL - 0.075;
+                        userSetR = userSetR - 0.075;
                         break;
                     case('a'):
                         userSetL = userSetL - 0.025;
@@ -411,10 +412,10 @@
         //float eR = 0;
 
         // Kp = 0.1, Ki = 0.5
-        const float Kp = 0.3f;
+        const float Kp = 0.5f;
         const float Ki = 0.8f;
         
-        if (action == 2 || action == 4)
+        if (action == 2)
         {
             IRChecker();
         }
@@ -485,10 +486,10 @@
         {
             if (RecCount < 100)
             {
-                RecX[RecCount] = DF;
-                RecU[RecCount] = DR;
-                RecV[RecCount] = eW;
-                RecE[RecCount] = uW;
+                RecX[RecCount] = aeL;
+                RecU[RecCount] = u1;
+                RecV[RecCount] = fbSpeedL;
+                RecE[RecCount] = eL;
                 RecCount++;
             }
         }
@@ -729,6 +730,24 @@
     {
         DR = 80;
     }
+    if (DF > 80)
+    {
+        DF = 80;
+    }
+    if (DR > 80)
+    {
+        DR = 80;
+    }
+    if (DF < 10)
+    {
+        DF = 10;
+    }
+    if (DR < 10)
+    {
+        DR = 10;
+    }
+    
+   
     
     // TODO: conditions when something is too close to the sensor