David Spillman
Crude navigation
Dependencies: GPS2 L3GD20 LSM303DLHC2 PID mbed SDFileSystem
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GPSNavigation
by 
David Spillman
Revision 17:ba45eaae96b3, committed 2015-05-09
- Comitter:
- Spilly
- Date:
- Sat May 09 22:29:01 2015 +0000
- Parent:
- 16:9d1e72ab7ec7
- Commit message:
- Fix for SD card GPS waypoints
Changed in this revision
| LSM303DLHC.lib | Show annotated file Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 9d1e72ab7ec7 -r ba45eaae96b3 LSM303DLHC.lib --- a/LSM303DLHC.lib Thu May 07 16:35:00 2015 +0000 +++ b/LSM303DLHC.lib Sat May 09 22:29:01 2015 +0000 @@ -1,1 +1,1 @@ -http://developer.mbed.org/users/Spilly/code/LSM303DLHC2/#5fe568883921 +http://developer.mbed.org/users/Spilly/code/LSM303DLHC2/#6c74e3e5e105
diff -r 9d1e72ab7ec7 -r ba45eaae96b3 main.cpp
--- 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);
}