Diff: main.cpp

Revision:

8:6ae3c3cd7f55

Parent:

7:1726c40ad774

Child:

9:d8d2778bfbfd

--- a/main.cpp	Fri Feb 10 00:04:57 2017 +0000
+++ b/main.cpp	Tue Feb 14 20:36:07 2017 +0000
@@ -86,8 +86,8 @@
     double publishFrequency = 0.05; /* seconds. rate to publish to matlab */
     double samplesPerPublish = (int)(publishFrequency/updatePeriod); /*this improves time response of filter and maintains smoothness*/
     int publishCounter = 1;
-    double filterRatio = 0.045;
-    double currentFilterRatio = 0.03;
+    double filterRatio = 0.07;
+    double currentFilterRatio = 0.035;
     float currentSensorOffset = 0; int i; 
     for(i=1;i<301;i++){ currentSensorOffset += currentSense.read(); }
     currentSensorOffset = currentSensorOffset*VREF/300;
@@ -128,6 +128,10 @@
     
         while(1) {
             
+           // currentSensorOffset = 0; i = 0; TODO: this is not working
+//            for(i=1;i<201;i++){ currentSensorOffset += currentSense.read(); } //TODO: watch out this could take some time, but this should make things better!
+//            currentSensorOffset = currentSensorOffset*VREF/300;
+            
             green = false;
             wait(updatePeriod);
             start = end;
@@ -153,8 +157,8 @@
                 }
             }        
             if(publishCounter == samplesPerPublish) {
-                printf("%+8f,%+8f,%+8f,%+8f\n", currentSensed/currentSensorOutputRatio, pwm.read(), velocity, ((double)(end-absoluteStart)/CLOCKS_PER_SEC));
-                publishCounter = 1;
+                printf("%+9.5f,%+8.4f,%+9.5f,%+8.2f\n", currentSensed/currentSensorOutputRatio, pwm.read(), velocity, ((double)(end-absoluteStart)/CLOCKS_PER_SEC));
+                publishCounter = 1;  // good for 1000 seconds. and room to grow one power of 10 on all other inputs.
             }
             publishCounter++;