Diff: main.cpp

Revision:

13:26263959903b

Parent:

12:d945fb6d4988

Child:

14:314b86828ed2

--- a/main.cpp	Fri Apr 05 04:28:08 2013 +0000
+++ b/main.cpp	Fri Apr 05 07:13:33 2013 +0000
@@ -19,7 +19,7 @@
 float sint=0, cost=1;
           
 float vx = 0, vy=0;
-float theta=0, dt_betwords=50000, st=400;
+float theta=0, dt_betWords=50000, st=400;
 unsigned int dt=500, ticktime=600;
 
 bool newPositionReady=false;
@@ -35,8 +35,8 @@
 
 point2dl shearing(point2dl dataBefore, float radious, float angularSpeed){
     point2dl dataAfter;
-    dataAfter.x = dataBefore.x - radious*angularSpeed*timer_v.read_us()/st/1000;
-    dataAfter.y = dataBefore.y - radious*angularSpeed*timer_v.read_us()/st/1000;
+    dataAfter.x = dataBefore.x - radious*angularSpeed*timer_v.read_us()/st/1000;   //st is a parameter for ajustment
+    dataAfter.y = dataBefore.y;
     dataAfter.laserSwitch = dataBefore.laserSwitch;
     
     return dataAfter;
@@ -63,7 +63,7 @@
 ////for culculate rotary velocit800000000y --------------------------------------------------------
 
 volatile float angleIncrement = 2.0*PI / 128; // when in Sign/Magnitude mode
-float radious = 700, radious_circle = 500;
+float radious = 700, attachSecond = 500;
 
 // a ticker function to compute the speed periodically:
 #define PERIODIC_COMPUTE 10000 // in us
@@ -118,7 +118,7 @@
     // Attach the external interrupt routine:
     //clockEncoderPin.rise(&encoderClock);
     //clockEncoderPin.fall(&encoderClock);
-    superEncoder.attach_us(&encoderClock, radious_circle);
+    superEncoder.attach_us(&encoderClock, attachSecond);
     timer.reset(); timer.start();
     
     // Attach the periodic computing function:
@@ -169,7 +169,7 @@
             }
             timer_v.reset();
             IO.setRedPower(0); //off
-            wait_us(dt_betwords);//sqrtf(vx*vx+vy*vy)*100000);
+            wait_us(dt_betWords);//sqrtf(vx*vx+vy*vy)*100000);
 
         }
         ////////////////
@@ -246,7 +246,7 @@
             //makeBuffer();
         } else if (val == 'B') {
             stringData[indexStringData] = 0;
-            dt_betwords = atoi(stringData);
+            dt_betWords = atoi(stringData);
             indexStringData=0;
             //makeBuffer();
         } else if (val == 'S') {
@@ -261,7 +261,7 @@
             //makeBuffer();
         }else if (val == 'T') {
             stringData[indexStringData] = 0;
-            radious_circle = atoi(stringData);
+            attachSecond = atoi(stringData);
             indexStringData=0;
             //makeBuffer();
         }