Francesco Pistone
/
Viaro_SpandiConcime_V3_inizio
copia12092018
Diff: main.cpp
- Revision:
- 1:59c30e854dfb
- Parent:
- 0:b0a79a3a9da8
- Child:
- 2:5111c6c0639e
diff -r b0a79a3a9da8 -r 59c30e854dfb main.cpp --- a/main.cpp Wed Jun 13 08:41:23 2018 +0000 +++ b/main.cpp Fri Jun 15 16:11:17 2018 +0000 @@ -39,6 +39,7 @@ //*************************************************** void ReadWheelInterrupt(){ //interrupt that read the wheel sensor TempRead=uSWheel.read_us(); + pc.printf("\nruota"); ReadWheelArray.push(TempRead); uSWheel.reset(); } @@ -127,15 +128,15 @@ motorPID.setSetPoint(WantedMotorSpeed); motorPID.setProcessValue(ReadMotorSpeed); MotorSpeedCorrected=motorPID.compute(); -// pc.printf("\n\nMotorSpeedCorrectedF %f ",MotorSpeedCorrected); -// pc.printf("\nWantedMotorSpeed %d ",WantedMotorSpeed); -// pc.printf("\nReadMotorSpeed %d ",ReadMotorSpeed); -// pc.printf("\nElapsed %d ",Elapsed); -// pc.printf("\nElapsedM4 %d ",Elapsed*4); -// pc.printf("\nTrigsPerWheelRevolution %d ",TrigsPerWheelRevolution); -// pc.printf("\nWheelToMotorRatio %f ",WheelToMotorRatio); -// pc.printf("\nPercent %f ",Percent); -// pc.printf("\nMotorSpeedPwm %f ",MotorSpeedPwm); + pc.printf("\n\nMotorSpeedCorrectedF %f ",MotorSpeedCorrected); + pc.printf("\nWantedMotorSpeed %d ",WantedMotorSpeed); + pc.printf("\nReadMotorSpeed %d ",ReadMotorSpeed); + pc.printf("\nElapsed %d ",Elapsed); + pc.printf("\nElapsedM4 %d ",Elapsed*4); + pc.printf("\nTrigsPerWheelRevolution %d ",TrigsPerWheelRevolution); + pc.printf("\nWheelToMotorRatio %f ",WheelToMotorRatio); + pc.printf("\nPercent %f ",Percent); + pc.printf("\nMotorSpeedPwm %f ",MotorSpeedPwm); //MotorCorrection=WantedMotorSpeed/ReadMotorSpeed; MotorSensorSecurityCheck=0; } @@ -144,6 +145,14 @@ //*************************************************** void CheckTimeElapsedFromLastTrig(){ //check time Elapsed from last wheel trig +// pc.printf("\nuSWheel.read_us %d ",uSWheel.read_us()); +// pc.printf("\nReadWheelArray.last %d ",ReadWheelArray.last()); + wait(0.5); + pc.printf("\nWheelSensorPin.read %d ", WheelSensorPin.read()); + pc.printf("\nMotorSensorPin.read %d ", MotorSensorPin.read()); + pc.printf("\nOnOffPin.read %d ", OnOffPin.read()); + pc.printf("\nPlusPercentPin.read %d ", PlusPercentPin.read()); + pc.printf("\nMinusPercentPin.read %d ", MinusPercentPin.read()); if((uSWheel.read_us()>(ReadWheelArray.last()*DecelerationControlRatio)) || (ReadWheelArray.last()==1) ){ //if the lag between the last read and now is more than *DecelerationControlRatio* times of the last trig or more of a max limit, or equal 1 -so, no reads- (this is an error control), it assumes the speed is too slow to act and resets OffTheMotor(); }else{ @@ -241,8 +250,8 @@ ReadWheelArray.push((int)1); ReadMotorArray.push((int)1); // | this fills the wheel sensor array with "1" } -// pc.printf("Hello World"); -// pc.printf("%d",millis()); + pc.printf("Hello World"); + pc.printf("%d",millis()); WheelSensorPin.rise(&ReadWheelInterrupt); //interrupt for wheel sensor, trigs when changes from 0 to 1 MotorSensorPin.rise(&ReadMotorInterrupt); //interrupt for motor sensor, trigs when changes from 0 to 1