Diff: source/movement.cpp

Revision:

20:859c7aebf8a6

Parent:

19:baa8371d55b4

Child:

21:cb40c0533bc2

--- a/source/movement.cpp	Thu Mar 02 08:48:50 2017 +0000
+++ b/source/movement.cpp	Thu Mar 02 16:20:41 2017 +0000
@@ -9,13 +9,14 @@
 
 static double time_counter = 0.0f;
 static double timer0 = 0.0f;
+static float PID_correction_value = 1.0f;
 
-static float correction_value = 1.01f;
 static float power_value_slow = 0.6f;
 static float power_value_medium = 0.7f;
 static float power_value_fast = 0.8f;
 static float ludicrous_value = 1.0f;
 
+
 //motor stuff
 DigitalOut enableMotorDriver(PB_2);
 PwmOut pwmL(PA_8);
@@ -31,42 +32,42 @@
     enableMotorDriver = 0;
 }
 
-void move_forward_slow()
+void move_forward_slow(float correction_value)
 {
     pwmL = power_value_slow;
     pwmR = 1-power_value_slow*correction_value;
     enableMotorDriver = 1;
 }
 
-void move_forward_medium()
+void move_forward_medium(float correction_value)
 {
     pwmL = power_value_medium;
     pwmR = 1-power_value_medium*correction_value;
     enableMotorDriver = 1;
 }
 
-void move_forward_fast()
+void move_forward_fast(float correction_value)
 {
     pwmL = power_value_fast;
     pwmR = 1-power_value_fast*correction_value;
     enableMotorDriver = 1;
 }
 
-void move_backward_slow()
+void move_backward_slow(float correction_value)
 {
     pwmL = 1-power_value_slow*correction_value;
     pwmR = power_value_slow;
     enableMotorDriver = 1;
 }
 
-void move_backward_medium()
+void move_backward_medium(float correction_value)
 {
     pwmL = 1-power_value_slow*correction_value;
     pwmR = power_value_slow;
     enableMotorDriver = 1;
 }
 
-void move_backward_fast()
+void move_backward_fast(float correction_value)
 {
     pwmL = 1-power_value_slow*correction_value;
     pwmR = power_value_slow;
@@ -78,4 +79,35 @@
     enableMotorDriver = 1;
 }
 
+void sync_movement(bool speed, bool direction)
+// PID correction Value calcualtion
 
+
+
+
+
+
+
+
+// Call movement:
+// direction 0 = backward, direction 1 = forward
+// speed 0 = slow, speed 1 = medium
+{
+    if(direction && speed) {
+        move_forward_medium(PID_correction_value);
+    }
+    if(direction && !speed) {
+        move_forward_slow(PID_correction_value);
+    }
+    if(!direction && speed) {
+        move_backward_medium(PID_correction_value);
+    }
+    if(!direction && !speed {
+    move_backward_slow(PID_correction_value);
+    }
+}
+
+void termiante_sync_movement(){
+    PID_correction_value = 1.0f;
+    }
+