Diff: realtime.h

Revision:

14:e12d0fdc3a48

Parent:

13:789b451cc27d

Child:

15:960b922433d1

--- a/realtime.h	Sun Nov 11 09:20:35 2018 +0000
+++ b/realtime.h	Sun Nov 18 13:33:28 2018 +0000
@@ -22,9 +22,10 @@
     if (delta_x < 0) {delta_s = -delta_s;}
     
     azimuth_to_target = atan(delta_y/delta_x);
-    float delta_phi_0 = azimuth_to_target - current.azimuth;
-    float delta_phi_1 = (target.azimuth - azimuth_to_target) ;//* (current.speed * t_step / delta_s);
-    float delta_phi = coord_accuracy/(delta_s + coord_accuracy) * delta_phi_1 + delta_s/(delta_s + coord_accuracy) * delta_phi_0;  //ZNAK 
+    if (delta_x < 0){if (delta_y > 0) azimuth_to_target += pi; else azimuth_to_target -= pi;}
+    float delta_phi_0 = azimuth_to_target - current.azimuth;                                              //target error
+    float delta_phi_1 = (target.azimuth - current.azimuth);//* (current.speed * t_step / delta_s);       //sever error
+    float delta_phi = coord_accuracy/(delta_s + coord_accuracy) * 0.3 * delta_phi_1 + delta_s/(delta_s + coord_accuracy) * delta_phi_0;  //ZNAK 
     
     normal_error  = delta_s * sin(delta_phi);
     tan_error = delta_s * cos(delta_phi);
@@ -34,15 +35,18 @@
     if (a > max_accel) a = max_accel ; if (a < -max_accel) a = -max_accel;
     float delta_v = (balance_prop*ax + balance_diff * gy + a) * t_step; 
        
-    if (abs(normal_error) < coord_accuracy) {eps = 0;current.omega = 0;} else eps = azimuth_prop * delta_phi - azimuth_diff * current.omega; //gz * azimuth_diff;
+    //if (abs(normal_error) < coord_accuracy) {eps = 0;current.omega = 0;} else 
+    eps = azimuth_prop * delta_phi - azimuth_diff * current.omega; //gz * azimuth_diff;
     float delta_omega = eps * t_step;
     
+    wifi.printf("%.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f;\r\n",current.x * 100,current.y * 100,current.azimuth,target.x * 100,azimuth_to_target,eps,delta_omega,delta_phi_0,delta_phi_1,delta_phi); 
+    
     set_motor_speed(motor_speed[0] - delta_v + delta_omega * half_axis, motor_speed[1] - delta_v - delta_omega * half_axis);
     
     if ((abs(normal_error) < coord_accuracy) && (abs(tan_error) < coord_accuracy))  ready = 1; else ready = 0;
     
    // wifi.printf("%.2f %.2f %.2f %.2f;",a,gy,ax,delta_v*100);
-   wifi.printf("%.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f;",current.x,target.x,delta_x,delta_s,current.speed,a,delta_v,ax,gy);
+   
 }