Revision 7:1726c40ad774, committed 2017-02-10

Comitter:

abraham1

Date:

Fri Feb 10 00:04:57 2017 +0000

Parent:

6:73e417b1c521

Child:

8:6ae3c3cd7f55

Commit message:

This is working as of feb 9 night snow day;

Changed in this revision

--- a/main.cpp	Tue Feb 07 20:02:52 2017 +0000
+++ b/main.cpp	Fri Feb 10 00:04:57 2017 +0000
@@ -78,7 +78,7 @@
     double time_between_readings;
     double velocity;
     double currentSensed = 0;
-    clock_t start, end;
+    clock_t start, end, absoluteStart;
     int ticks;
     a=1; b=0; pwm.write(0);
     button.fall(&pressed);
@@ -87,7 +87,7 @@
     double samplesPerPublish = (int)(publishFrequency/updatePeriod); /*this improves time response of filter and maintains smoothness*/
     int publishCounter = 1;
     double filterRatio = 0.045;
-    double currentFilterRatio = 0.02;
+    double currentFilterRatio = 0.03;
     float currentSensorOffset = 0; int i; 
     for(i=1;i<301;i++){ currentSensorOffset += currentSense.read(); }
     currentSensorOffset = currentSensorOffset*VREF/300;
@@ -99,13 +99,16 @@
     
     while(1) {
     
+    
         while(1) {
+            
             green = true;
             if(pc.readable())
             {
                 char charIn = pc.getc();
                 if(charIn == 'g'){ 
                     fflush(pc); // TODO: this was recently changed check to see it causes no bugs
+                    absoluteStart = clock();
                     end = clock(); /* TODO: fix clock things */
                     ZeroEncoder();
                     velocity = 0;
@@ -119,13 +122,14 @@
                 }
             }
             wait(0.05);
+            
         }  
     
     
         while(1) {
+            
             green = false;
             wait(updatePeriod);
-            clock_t absoluteStart = clock();
             start = end;
             end = clock();        
             time_between_readings = ((double)(end - start)) / CLOCKS_PER_SEC;
@@ -141,21 +145,22 @@
                 char charIn = pc.getc();
                 if(charIn == 'r'){
                     fflush(pc); /* TODO: purge much better than this! */
+                    pwm.write(0.0); /* eliminates the need to write r and 0 commands in matlab which mbed couldn't read fast enough */
                     break;
                 } else if(isdigit(charIn)) {
                     double abrahamsCommand = (double)(charIn - '0');
                     pwm.write(abrahamsCommand/10.0);
                 }
             }        
-            if(publishCounter == samplesPerPublish)
-                {
+            if(publishCounter == samplesPerPublish) {
                 printf("%+8f,%+8f,%+8f,%+8f\n", currentSensed/currentSensorOutputRatio, pwm.read(), velocity, ((double)(end-absoluteStart)/CLOCKS_PER_SEC));
                 publishCounter = 1;
-                }
+            }
             publishCounter++;
             
         }
     
+    
     }
     
 }