James MacLean / Robot_Control

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Dependencies:   mbed-rtos mbed-src pixylib

tuning.cpp

Committer:
balsamfir
Date:
2016-03-25
Revision:
8:b0478286ad21
Parent:
7:5ef312aa2678
Child:
9:62fbb69b612c
Child:
10:1acbcd54359b

File content as of revision 8:b0478286ad21:

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

void SystemTuning(void) {
    RunMotor();
    RunNavigation();
    char key;
    float increment = 0.0000001;
    
    while (1) {
        
        ResetWatchDog();
        
        if (bt.readable()) {
            char key = bt.getc();
            switch(key) {
                case 'e':
                    motorKP = motorKP + increment;
                    break;
                case 'e':
                    motorKP = motorKP + increment;
                    break;
                case 'e':
                    motorKP = motorKP + increment;
                    break; 
            }
            if (inKey == 'i') Kp = Kp + 0.000001;
            else if (inKey == 'k') Kp = Kp - 0.000001;
            else if (inKey == 'w') Ki = Ki + 0.000001;
            else if (inKey == 's') Ki = Ki - 0.000001;
            
            if (Setpoint == 6) Setpoint = 3;
            else Setpoint = 6;
            
            led4=0;     
        }
        
        bt.printf("X Coordinate: %d, Height: %d \r\n", x, height);
        bt.printf("Speed Set: %f, Steering Set: %f \r\n", speed, steering);
        bt.printf("Left Motor Set: %f, Right Motor Set: %f \n\r", leftMotor, rightMotor);
        
        Thread::wait(500); // Go to sleep for 500 ms
    }
}

void MotorTuning(void) {
    
}

void SpeedTuning(void) {
    
}

void SteeringTuning(void) {

}

void TiltTuning(void) {
    
}