Matthew Marino
/
sailbot_RUDDER
Rudder program
Revision 1:9e727d54e80c, committed 2018-11-28
- Comitter:
- LukeMar
- Date:
- Wed Nov 28 15:17:04 2018 +0000
- Parent:
- 0:8ed926c84e2f
- Commit message:
- RUdder version of sailbot RC code
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 8ed926c84e2f -r 9e727d54e80c main.cpp --- a/main.cpp Wed Nov 28 14:53:46 2018 +0000 +++ b/main.cpp Wed Nov 28 15:17:04 2018 +0000 @@ -30,65 +30,65 @@ int j; float now; //***Stepper Motor universal variables*** -AnalogIn ain(p18); -PwmOut motor( p22 ); -DigitalOut dir( p21 ); -DigitalOut I(p23); -DigitalOut slp(p30); //sleep -float d_ang = 180.0; -float pos = 180.0; -float RC_O; +AnalogIn r_ain(p18); +PwmOut rudder( p22 ); +DigitalOut r_dir( p21 ); +DigitalOut r_I(p23); +DigitalOut r_slp(p30); //sleep +float r_ang = 180.0; +float r_pos = 180.0; +float RC_1; //**get position** -float posi(float in); +float posr(); int main(void) { - I=0; - motor.period(.001); - motor.pulsewidth(0); + r_I=0; + rudder.period(.001); + rudder.pulsewidth(0); // loop while(1) { //now = rtos::Kernel::get_ms_count(); //***JUST ADDED stepper code if (rx.valid) { - RC_O = rx.channel[0]; + RC_1 = rx.channel[0]; pc.printf(" rc: %f\n",rx.channel[0]); } else { pc.printf(" invalid\r\n"); - slp = 0; + r_slp = 0; } //39.19 - d_ang = (RC_O/6.77)+39.19; + r_ang = (RC_1/6.77)+39.19; - pos = (ain-.108)/.002466; + r_pos = (r_ain-.108)/.002466; //pc.printf(" %.3f\n",); - if((pos > (d_ang-3.0)) && (pos < (d_ang+3.0))) { - motor.pulsewidth(0); - slp = 0; + if((r_pos > (r_ang-3.0)) && (r_pos < (r_ang+3.0))) { + rudder.pulsewidth(0); + r_slp = 0; } - if( (pos > (d_ang+3.0)) && pos < 270.0) { - slp = 1; - while(pos > d_ang) { - dir = 1; //left?? - motor.pulsewidth(.0005); - pc.printf("pos: %.3f\n",pos); - pos = posi(ain); + if( (r_pos > (r_ang+3.0)) && r_pos < 270.0) { + r_slp = 1; + while(r_pos > r_ang) { + r_dir = 1; //left?? + rudder.pulsewidth(.0005); + pc.printf("pos: %.3f\n",r_pos); + r_pos = posr(); }//while pos - motor.pulsewidth(0); + rudder.pulsewidth(0); }//if pos - if((pos < (d_ang-3.0)) && pos > 90.0) { - slp = 1; - while(pos < d_ang) { - dir = 0; //right?? - motor.pulsewidth(.0005); - pc.printf("pos: %.3f\n",pos); - pos = posi(ain); + if((r_pos < (r_ang-3.0)) && r_pos > 90.0) { + r_slp = 1; + while(r_pos < r_ang) { + r_dir = 0; //right?? + rudder.pulsewidth(.0005); + pc.printf("pos: %.3f\n",r_pos); + r_pos = posr(); }//while pos - motor.pulsewidth(0); + rudder.pulsewidth(0); } //***END OF JUST ADDED ThisThread::sleep_until(121); @@ -97,13 +97,13 @@ -float posi(float in) +float posr() { - float p1; - float p2; - float p3; - p1 = (ain-.108)/.002466; - p2 = (ain-.108)/.002466; - p3 = (ain-.108)/.002466; - return (p1+p2+p3)/3.0; + float r1; + float r2; + float r3; + r1 = (r_ain-.108)/.002466; + r2 = (r_ain-.108)/.002466; + r3 = (r_ain-.108)/.002466; + return (r1+r2+r3)/3.0; }