Diff: main.cpp

Revision:

6:428538df7b63

Parent:

5:c673430c8a32

--- a/main.cpp	Sun Jan 10 19:12:08 2016 +0000
+++ b/main.cpp	Tue Feb 16 22:43:52 2016 +0000
@@ -17,7 +17,7 @@
 //comment out following line for normal operation
 //#define TUNE_PID 1
 
-    
+
 //state variables for ISR
 volatile bool run = false;
 BusOut start_stop_led(D6, D7);
@@ -44,9 +44,10 @@
     
     //Connect IR sensor to port 4
     BusIn ir_bus(P4_0, P4_1, P4_2, P4_3, P4_4, P4_5, P4_6, P4_7);
+    
     DigitalOut ir_bus_enable(D3, 1); //active high enable
     
-    //raw sensor data
+    //binary sensor data
     uint8_t ir_val = 0;
     
     //used to measure dt
@@ -89,9 +90,9 @@
     //Set PID terms to 0 if not used/needed
     //For values below Kc = 10 and Pc was measured at 0.33 calculated starting points given in comments below
     //Ended up decreasing integral term, increasing derivative term and small decrease in proportional term.
-    int32_t kp = 4; //6
-    int32_t ki = 3; //.0576, divide by 1000 later, 7
-    int32_t kd = 250; //156.25, 500 
+    int32_t kp = 4; //
+    int32_t ki = 2; //.0576, divide by 1000 later
+    int32_t kd = 250; //156.25
     
     //initialize vars
     int32_t current_error = 0;
@@ -158,7 +159,7 @@
             loop_pulse = !loop_pulse;
             
             //get raw ir sensor data
-            ir_val = ~(ir_bus.read());
+            ir_val = ~(ir_bus.read()); // use with Parallax Sensor
             
             //scale feedback
             switch(ir_val)