James MacLean / Robot_Control

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Dependencies:   mbed-rtos mbed-src pixylib

tuning.cpp@8:b0478286ad21, 2016-03-25 (annotated)

Committer:
balsamfir
Date:
Fri Mar 25 20:05:04 2016 +0000
Revision:
8:b0478286ad21
Parent:
7:5ef312aa2678
Child:
9:62fbb69b612c
Child:
10:1acbcd54359b
commit 4 james

Who changed what in which revision?

UserRevisionLine numberNew contents of line
balsamfir 2:2bc519e14bae 1 #include "tuning.h"
balsamfir 8:b0478286ad21 2 #include "robot.h"
balsamfir 2:2bc519e14bae 3
balsamfir 7:5ef312aa2678 4 void SystemTuning(void) {
balsamfir 8:b0478286ad21 5 RunMotor();
balsamfir 8:b0478286ad21 6 RunNavigation();
balsamfir 8:b0478286ad21 7 char key;
balsamfir 8:b0478286ad21 8 float increment = 0.0000001;
balsamfir 7:5ef312aa2678 9
balsamfir 8:b0478286ad21 10 while (1) {
balsamfir 8:b0478286ad21 11
balsamfir 8:b0478286ad21 12 ResetWatchDog();
balsamfir 8:b0478286ad21 13
balsamfir 8:b0478286ad21 14 if (bt.readable()) {
balsamfir 8:b0478286ad21 15 char key = bt.getc();
balsamfir 8:b0478286ad21 16 switch(key) {
balsamfir 8:b0478286ad21 17 case 'e':
balsamfir 8:b0478286ad21 18 motorKP = motorKP + increment;
balsamfir 8:b0478286ad21 19 break;
balsamfir 8:b0478286ad21 20 case 'e':
balsamfir 8:b0478286ad21 21 motorKP = motorKP + increment;
balsamfir 8:b0478286ad21 22 break;
balsamfir 8:b0478286ad21 23 case 'e':
balsamfir 8:b0478286ad21 24 motorKP = motorKP + increment;
balsamfir 8:b0478286ad21 25 break;
balsamfir 8:b0478286ad21 26 }
balsamfir 8:b0478286ad21 27 if (inKey == 'i') Kp = Kp + 0.000001;
balsamfir 8:b0478286ad21 28 else if (inKey == 'k') Kp = Kp - 0.000001;
balsamfir 8:b0478286ad21 29 else if (inKey == 'w') Ki = Ki + 0.000001;
balsamfir 8:b0478286ad21 30 else if (inKey == 's') Ki = Ki - 0.000001;
balsamfir 8:b0478286ad21 31
balsamfir 8:b0478286ad21 32 if (Setpoint == 6) Setpoint = 3;
balsamfir 8:b0478286ad21 33 else Setpoint = 6;
balsamfir 8:b0478286ad21 34
balsamfir 8:b0478286ad21 35 led4=0;
balsamfir 8:b0478286ad21 36 }
balsamfir 8:b0478286ad21 37
balsamfir 8:b0478286ad21 38 bt.printf("X Coordinate: %d, Height: %d \r\n", x, height);
balsamfir 8:b0478286ad21 39 bt.printf("Speed Set: %f, Steering Set: %f \r\n", speed, steering);
balsamfir 8:b0478286ad21 40 bt.printf("Left Motor Set: %f, Right Motor Set: %f \n\r", leftMotor, rightMotor);
balsamfir 8:b0478286ad21 41
balsamfir 8:b0478286ad21 42 Thread::wait(500); // Go to sleep for 500 ms
balsamfir 8:b0478286ad21 43 }
balsamfir 7:5ef312aa2678 44 }
balsamfir 7:5ef312aa2678 45
balsamfir 2:2bc519e14bae 46 void MotorTuning(void) {
balsamfir 2:2bc519e14bae 47
balsamfir 2:2bc519e14bae 48 }
balsamfir 2:2bc519e14bae 49
balsamfir 2:2bc519e14bae 50 void SpeedTuning(void) {
balsamfir 2:2bc519e14bae 51
balsamfir 2:2bc519e14bae 52 }
balsamfir 2:2bc519e14bae 53
balsamfir 2:2bc519e14bae 54 void SteeringTuning(void) {
balsamfir 2:2bc519e14bae 55
balsamfir 2:2bc519e14bae 56 }
balsamfir 2:2bc519e14bae 57
balsamfir 2:2bc519e14bae 58 void TiltTuning(void) {
balsamfir 2:2bc519e14bae 59
balsamfir 2:2bc519e14bae 60 }