Diff: funcdef.h

Revision:

6:a652deaae134

Parent:

5:dfea493f7a12

Child:

7:11dd5581c763

diff -r dfea493f7a12 -r a652deaae134 funcdef.h
--- a/funcdef.h	Sun Mar 11 13:15:34 2018 +0000
+++ b/funcdef.h	Sun Apr 01 18:21:50 2018 +0000
@@ -11,38 +11,32 @@
 
 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 //Pin Names
-#define sensor1pin A0
-#define sensor2pin A1
-#define sensor3pin A2
-#define sensor4pin A3
-#define sensor5pin A4
-#define sensor6pin A5
-#define sensor7pin A6
-#define sensor8pin D3
-
 #define leftMotorpin D6
 #define rightMotorpin D1
 #define beeperPin D10
 
-#define Kp 50
+#define Kp 65
 #define Ki 0
-#define Kd 0
-#define Ac 10
+#define Kd 30
+#define Ac 100
 
-#define period_F6 716
-#define period_E6 758
-#define period_D6 851
-#define period_B6 506
-#define period_A6 568
+//i=0.05 to high
+//values that work, p=55   ,i=0.003,d=0,motorcurve=normal, initial speed=250, fast 300seconds, middle hole
+
+//values that work, p=45   ,i=0.005,d=0,motorcurve=normal, initial speed=250, fast 300seconds, middle hole
+
+//
+
+#define calibrationMotorspeed 350
+
 //http://www.sengpielaudio.com/calculator-notenames.htm
 
 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 //Pin Definitions
 static DigitalOut LEDVal = DigitalOut(LED1);
-
+static DigitalOut CountingVar = DigitalOut(D0);
 static PwmOut leftMotorVal=PwmOut(leftMotorpin);
 static PwmOut rightMotorVal=PwmOut(rightMotorpin);
-static PwmOut beeperVal = PwmOut(beeperPin);
 
 static AnalogIn sensorPin[] = {A0,A1,A2,A3,A4,A5,A6,D3};
 
@@ -60,29 +54,28 @@
 extern int sensorMaxValue2[8];
 
 extern int sensorThreshold[8];
-extern int sensorErrors[8];
+extern float sensorErrors[8];
+
+extern float Prop;
+extern float Inte;
+extern float Dere;
 
-extern int Prop;
-//extern int Inte;
-//extern int Dere;
-extern int errorVar;
-extern int previousError;
-extern int PIDs;
+extern float errorVar;
+extern float previousError;
+extern float PIDs;
+extern int newPIDs;
+extern int initialMotorspeed;
+extern int leftMotorValTemp;
+extern int rightMotorValTemp;
 extern int accumulator;
-extern int counter;
-extern int delayBetweenPulses_ms;
-extern int note;
-extern int initialMotorspeed;
+extern bool stopMotors;
 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 //Function Definitions
 
 void CalibrateFunc(void);
-void printCalibrateValues(void);
-void beep(int);
 void senseFunc(void);
 void calculateFunc(void);
 void driveFunc(void);
 void findLineFunc(void);
-void errorAccumulate(void);
 
 #endif // FUNCDEF_H
\ No newline at end of file