James MacLean / Robot_Control

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Dependencies:   mbed-rtos mbed-src pixylib

tuning.cpp

Committer:
balsamfir
Date:
2016-03-25
Revision:
9:62fbb69b612c
Parent:
8:b0478286ad21
Child:
11:a3accd7bbf16

File content as of revision 9:62fbb69b612c:

#include "tuning.h"
#include "robot.h"
#include "global.h"

void SystemTuning(void) {
    InitializeRobot();
    RunMotor();
    RunNavigation();
    char key;
    float increment = 1;
    
    while (1) {
        
        ResetWatchDog();
        
        if (pc.readable()) {
            key = pc.getc();
            switch(key) {
                case 'e':
                    leftMotorPI.kP = leftMotorPI.kP + increment;
                    break;
                case 'd':
                    leftMotorPI.kP = leftMotorPI.kP - increment;
                    break;
                case 'r':
                    leftMotorPI.kI = leftMotorPI.kI + increment;
                    break;
                case 'f':
                    leftMotorPI.kI = leftMotorPI.kI - increment;
                    break;
                case 't':
                    xPI.kP = xPI.kP + increment;
                    break;
                case 'g':
                    xPI.kP = xPI.kP - increment;
                    break;
                case 'y':
                    xPI.kI = xPI.kI + increment;
                    break;
                case 'h':
                    xPI.kI = xPI.kI - increment;
                    break;
                case 'u':
                    heightPI.kP = heightPI.kP + increment;
                    break;
                case 'j':
                    heightPI.kP = heightPI.kP - increment;
                    break;
                case 'i':
                    heightPI.kI = heightPI.kI + increment;
                    break;
                case 'k':
                    heightPI.kI = heightPI.kI - increment;
                    break;
                case 'o':
                    increment = increment * 10;
                    break;
                case 'l':
                    increment = increment / 10;
                    break;                    
            }  
            leftMotorPI.kP = rightMotorPI.kP;
            leftMotorPI.kI = rightMotorPI.kI;
            pc.printf("Increment \t %f \r\n", increment);
            pc.printf("Motor \t KP: %f, KI: %f \r\n", leftMotorPI.kP, leftMotorPI.kI);
            pc.printf("Steering \t KP: %f, KI: %f \r\n", xPI.kP, xPI.kI);
            pc.printf("Speed  \t KP: %f, KI: %f \r\n\r\n\r\n", heightPI.kP, heightPI.kI);
        }
        
        Thread::wait(500); // Go to sleep for 500 ms
    }
}

void MotorTuning(void) {
    
}

void SpeedTuning(void) {
    
}

void SteeringTuning(void) {

}

void TiltTuning(void) {
    
}