File content as of revision 13:4d6114864f2d:

int SD_faultA=0;
int SD_faultB=0;
int DC_brake=1;
int DC_forward=1;

float PID_Rate(0.1);

string MachineType("electric");  //two options: "electric" or "idraulic"

float Percent(1.0);  //variable to add/take out a Percent of product with PlusPercentPin/MinusPercentPin
char ChangeFromOffToOn(1);  //used to reset Previous millis() when the operator switch off and back on
char StopTheMotorWeGoTooSlow(1);  //stop the motor, we go too slow
char MotorSensorError(0);  //stop the motor, we go too slow
int TrigsPerWheelRevolution(10);  //number of triggers per weheel complete revolution
int WheelDiameter(400);  //wheel diameter in millimeters
unsigned long WantedMotorSpeed(0);  //motor speed (initial is 0)
unsigned long ReadMotorSpeed(0);  //motor speed (initial is 0)
float MotorSpeedCorrected(0);  //motor speed (initial is 0)
float MotorSpeedPwmTemp(0);  //motor speed pwm (initial is 0)
float MotorSpeedPwm(0);  //motor speed pwm (initial is 0)
int MinMotorPwm(1);  //min pwm for the motor to start
int MinMotorSpeed(1000);  //min motor speed
int MaxMotorSpeed(10000);  //max motor speed
//int WheelToMotorRatio(100);  //set the ideal ratio between wheel speed and motor speed  //RUOTA FONICA > MOTORE
//francesco 17/09/2018 -> test
int WheelToMotorRatio(100); // 4 (=pv) * 60(=3000/50) * 12 (differenza circonferenza di rotazione)
float MotorCorrection(1.0);  //set the initial motor correction factor
int MotorSensorSecurityCheck(0);  //set the initial motor correction factor
float DecelerationControlRatio(1.5);  //ratio to control wheel decelaration accepted limit
const int ConstArrayIns(3);  //the number set the array values
CB1<int,ConstArrayIns> ReadWheelArray;  //Circular array (for LIFO purposes) for wheel sensor readings
CB1<int,ConstArrayIns> ReadMotorArray;  //Circular array (for LIFO purposes) for wheel sensor readings
int i;  //general purpose integer for loops
int a;  //general purpose integer for loops
unsigned long TempReadW;  //temporal read of wheel sensor millis for analysis
unsigned long TempReadM;  //temporal read of motor sensor millis for analysis
unsigned long ElapsedW(0);  //used to take note of Elapsed time
unsigned long ElapsedM(0);  //used to take note of Elapsed time
unsigned long CheckIfReadMChanges(0);  //feedback of motor sensor
//from PID library: 0.0 - 1.0
//PID motorPID(0.5, 0.3, 0.1, 0.1);  //Kc, Ti, Td, interval (0.1ms)
//francesco 13/09/2018 --> test togliendo la parte derivativa del PID
//PID motorPID(0.5, 0.3, 0.0, 0.1);  //Kc, Ti, Td, interval (0.1ms)
PID motorPID(1.0, 1.0, 0.0, 0.1);  //Kc, Ti, Td, interval (0.01ms)


//the below declarations are meant to prevent problems on switches due to tractor vibrations
int VibrationTimer(500);  //timer for avoid vibrations in millis
bool ChangeStatusOfOnOffPinToHigh(1);
bool ChangeStatusOfOnOffPinToLow(1);
bool ChangeStatusOfPlusPercentPinToHigh(1);
bool ChangeStatusOfPlusPercentPinToLow(1);
bool PercentPlus(0);
bool ChangeStatusOfMinusPercentPinToHigh(1);
bool ChangeStatusOfMinusPercentPinToLow(1);
bool PercentMinus(0);
bool WheelData(0);  //need to tell main() there's some data to handle
bool MotorData(0);  //need to tell main() there's some data to handle
bool Compute(0);
bool SecurityStop(0);