Diff: main.cpp

Revision:

17:ba45eaae96b3

Parent:

16:9d1e72ab7ec7

--- a/main.cpp	Thu May 07 16:35:00 2015 +0000
+++ b/main.cpp	Sat May 09 22:29:01 2015 +0000
@@ -82,7 +82,7 @@
 #define RATIO_TOLERANCE     0.02f                       //How close the difference between the set ratio and current ratio before consider
 #define MIN_RATIO           0.04f                       //Actuator hits retract limit swithc at 2.2%
 #define MAX_RATIO           0.85f                       //Actuator hits extend limit switch at 87.6%
-#define CENTER_RATIO        0.29f                       //Ratio where prop is centered
+#define CENTER_RATIO        0.285f                      //Ratio where prop is centered
 
 #define FIX             0                               // 2 = DGPS (more accurate but slower to initialize) 1 = GPS only (less accurate but faster to initialize)
 #define ARRIVED         5.0f                            //Tolerance, in meters, for when goal location is reached
@@ -144,7 +144,7 @@
     int wayPtNum = 0, mode = 0, adjustMode = 0;
     float magDiff = 0;
     float batVoltage = 0.0f, potVoltage = 0.0f, voltRatio = 0.0f;
-    float curSet = 0.0f, prevSet = 0.29f;
+    float curSet = 0.0f, prevSet = CENTER_RATIO;
     float filtered = 0.0000001f;
     double curPos[2]        =       {0,0};
     double goalPos[10][2];                                  //positions are initially read from SD card
@@ -169,14 +169,14 @@
     
     //Get goal positions from SD card
     //start of SD card read
-    way = fopen ("/sd/GPS_CORDS.txt", "r");
+    way = fopen ("/sd/GPS_CORDS.txt", "rt");
     
     xBee.printf("Reading SD Card Please Wait\n");
     
     for(int x = 0; x<=9; x++)
     {
-        fscanf(way, "%f,%f\n", &goalPos[x][0], &goalPos[x][1]);
-        xBee.printf("waypoint %d = %f,%f\n", x, goalPos[x][0], goalPos[x][1]);
+        fscanf(way, "%lf,%lf\n", &goalPos[x][0], &goalPos[x][1]);
+        xBee.printf("waypoint %d = %lf,%lf\n", x, goalPos[x][0], goalPos[x][1]);
     }
     fclose(way);
     //end of SD card read
@@ -306,6 +306,12 @@
                     goStop();
                     mode = 3;
                 }
+                else if(recChar == '>')
+                {
+                    xBee.printf("Reseting system\n");
+                    wait(0.5f);
+                    NVIC_SystemReset();
+                }
                 else if(recChar == '<')
                 {
                     xBee.printf("Power cycling GPS\nPlease wait\n");
@@ -828,7 +834,7 @@
                     way = fopen("/sd/GPS_CORDS.txt", "w+");
                     for(int x = 0; x<=9; x++)
                     {
-                        fprintf(way, "%f,%f\n", &goalPos[x][0], &goalPos[x][1]);
+                        fprintf(way, "%2.10lf,%2.10lf\n", &goalPos[x][0], &goalPos[x][1]);
                     }
                     fclose(way);                    
                 }
@@ -841,7 +847,7 @@
                     way = fopen("/sd/GPS_CORDS.txt", "w+");
                     for(int x = 0; x<=9; x++)
                     {
-                        fprintf(way, "%f,%f\n", &goalPos[x][0], &goalPos[x][1]);
+                        fprintf(way, "%2.10lf,%2.10lf\n", &goalPos[x][0], &goalPos[x][1]);
                     }
                     fclose(way);            
                 }
@@ -854,7 +860,7 @@
                     way = fopen("/sd/GPS_CORDS.txt", "w+");
                     for(int x = 0; x<=9; x++)
                     {
-                        fprintf(way, "%f,%f\n", &goalPos[x][0], &goalPos[x][1]);
+                        fprintf(way, "%2.10lf,%2.10lf\n", &goalPos[x][0], &goalPos[x][1]);
                     }
                     fclose(way);            
                 }
@@ -867,7 +873,7 @@
                     way = fopen("/sd/GPS_CORDS.txt", "w+");
                     for(int x = 0; x<=9; x++)
                     {
-                        fprintf(way, "%f,%f\n", &goalPos[x][0], &goalPos[x][1]);
+                        fprintf(way, "%2.10lf,%2.10lf\n", &goalPos[x][0], &goalPos[x][1]);
                     }
                     fclose(way);            
                 }
@@ -880,7 +886,7 @@
                     way = fopen("/sd/GPS_CORDS.txt", "w+");
                     for(int x = 0; x<=9; x++)
                     {
-                        fprintf(way, "%f,%f\n", &goalPos[x][0], &goalPos[x][1]);
+                        fprintf(way, "%2.10lf,%2.10lf\n", &goalPos[x][0], &goalPos[x][1]);
                     }
                     fclose(way);            
                 }
@@ -893,7 +899,7 @@
                     way = fopen("/sd/GPS_CORDS.txt", "w+");
                     for(int x = 0; x<=9; x++)
                     {
-                        fprintf(way, "%f,%f\n", &goalPos[x][0], &goalPos[x][1]);
+                        fprintf(way, "%2.10lf,%2.10lf\n", &goalPos[x][0], &goalPos[x][1]);
                     }
                     fclose(way);            
                 }
@@ -911,7 +917,7 @@
                     way = fopen("/sd/GPS_CORDS.txt", "w+");
                     for(int x = 0; x<=9; x++)
                     {
-                        fprintf(way, "%f,%f\n", &goalPos[x][0], &goalPos[x][1]);
+                        fprintf(way, "%2.10lf,%2.10lf\n", &goalPos[x][0], &goalPos[x][1]);
                     }
                     fclose(way);            
                 }
@@ -924,7 +930,7 @@
                     way = fopen("/sd/GPS_CORDS.txt", "w+");
                     for(int x = 0; x<=9; x++)
                     {
-                        fprintf(way, "%f,%f\n", &goalPos[x][0], &goalPos[x][1]);
+                        fprintf(way, "%2.10lf,%2.10lf\n", &goalPos[x][0], &goalPos[x][1]);
                     }
                     fclose(way);            
                 }
@@ -937,7 +943,7 @@
                     way = fopen("/sd/GPS_CORDS.txt", "w+");
                     for(int x = 0; x<=9; x++)
                     {
-                        fprintf(way, "%f,%f\n", &goalPos[x][0], &goalPos[x][1]);
+                        fprintf(way, "%2.10lf,%2.10lf\n", &goalPos[x][0], &goalPos[x][1]);
                     }
                     fclose(way);            
                 }