Diff: main.cpp

Revision:

1:fb18b43590e6

Parent:

0:f7fc09f9c7ce

Child:

2:7da65637e512

--- a/main.cpp	Mon Nov 20 01:49:19 2017 +0000
+++ b/main.cpp	Tue Nov 21 23:06:09 2017 +0000
@@ -3,15 +3,18 @@
 #include "header.h"
 
 inline void pulse_ir(int in){
+    for(int i = 0; i < 4; i++){
         LeftIR = in;
+        
         FrontLeftIR = in;
         FrontRightIR = in;
         RightIR = in;
+    }
 }
 
 int main() {
     pid lman, rman;
-    lman.kp = .004f;
+    lman.kp = .009f;
     lman.ki = .0f;
     lman.kd = .0f;
     rman.kp = .5f;
@@ -19,11 +22,16 @@
     rman.kd = .4f;
     
     lpwmf.period(0.01f);
+    lpwmb.period(0.01f);
     lpwmf = 0; //Previously started on, replace with lpwmf = lbase to make it start on (not a good idea)
+    rpwmb=0;
     rpwmf.period(0.01f);
+    rpwmb.period(0.01f);
+    rpwmb=0;
     rpwmf = 0;
+    
     pid ir_lman, ir_rman;
-    ir_lman.kp = .004f;
+    ir_lman.kp = .0001f;
     ir_lman.ki = .0f;
     ir_lman.kd = .0f;
     ir_rman.kp = .5f;
@@ -32,12 +40,24 @@
     t_time.start();
     while(1){       
        float dt = t_time.read();
-       float lspeed; float rspeed;
-       pulse_ir(1);
+       float lspeed = 0; float rspeed = 0;
+            LeftIR = 1;
+            wait(.01f);
+            FrontLeftIR=1;
+            wait(.01f);
+            FrontRightIR=1;
+            wait(.01f);
+            RightIR=1;
        ProcessIR(dt, ir_lman, lspeed, rspeed);
        lpwmb = 0; rpwmb = 0;
-       //lpwmf = lspeed; rpwmf = rspeed;
-       pulse_ir(0);
+       lpwmf = lspeed; rpwmf = rspeed;
+            LeftIR = 0;
+            wait(.01f);
+            FrontLeftIR=0;
+            wait(.01f);
+            FrontRightIR=0;
+            wait(.01f);
+            RightIR=0;
        t_time.reset();
     }
 }