Diff: common.h

Revision:

19:2fe650d29823

Parent:

17:bd6b6ac89e0e

Child:

20:e73f49ba5001

--- a/common.h	Sun Feb 10 12:05:16 2019 +0000
+++ b/common.h	Sun Feb 24 11:02:56 2019 +0000
@@ -3,8 +3,9 @@
 Serial sound_in(PA_2, PA_3);
 VL53L1X glaz(PB_9,PB_8);
 //USBSerial usb_serial(0x1f00, 0x2012, 0x0001,  false);
-DigitalOut  myled(LED1);
+DigitalOut myled(LED1);
 DigitalOut test(PB_15); //Test pin for diagnostics and debugging
+
 int volatile proc_counter; //(3e5 - 2e6 idle, 2e5 - 5e5 at motion) / per 50 mS
 
 float const t_step = 0.02;//SI realtime step
@@ -12,7 +13,6 @@
 
 float const g = 9.81;//SI
 float const pi = 3.1415926535;
-
 float const r_wheel = 0.038;//SI
 float const center_mas = 0.022;//SI (ot osi)
 float const mass = 1.3;//SI
@@ -32,14 +32,14 @@
 coord current;
 coord target;
 
-float balance_prop = 160;
+float balance_prop = 1.5;
 float balance_diff = 7;
 float x_prop = 45;//45;
-float x_diff = 37;//37;
+float x_diff = 45;//37;
 float azimuth_prop = 40;//50;
 float azimuth_diff = 10;//15;
 
-float coord_accuracy = 0.1;
+float coord_accuracy = 0.15;
 bool coord_ready;
 
 bool fall_flag;
@@ -49,4 +49,10 @@
 bool motion_flag;
 int delay_counter;
 int serva_counter;
-
+int delay2_counter;
+int fall_timer;
+int motion_timeout;
+int motion_mode;
+#define stop 0;
+#define go 1;
+#define rotate 2;