Revision 2:9caf24407d32, committed 2015-04-14

Comitter:

johnylafleur

Date:

Tue Apr 14 11:00:56 2015 +0000

Parent:

1:cf1bfec4aae0

Commit message:

Pixy+ MD25 Motors Tracking;

Changed in this revision

diff -r cf1bfec4aae0 -r 9caf24407d32 Servoloop.lib
--- a/Servoloop.lib	Mon Apr 13 12:17:40 2015 +0000
+++ b/Servoloop.lib	Tue Apr 14 11:00:56 2015 +0000
@@ -1,1 +1,1 @@
-http://developer.mbed.org/users/johnylafleur/code/Servoloop/#b12a5af91608
+http://developer.mbed.org/users/johnylafleur/code/Servoloop/#7915442d0bd8

diff -r cf1bfec4aae0 -r 9caf24407d32 main.cpp
--- a/main.cpp	Mon Apr 13 12:17:40 2015 +0000
+++ b/main.cpp	Tue Apr 14 11:00:56 2015 +0000
@@ -70,7 +70,7 @@
 // and move to follow the pan/tilt tracking
 // of the head.
 //---------------------------------------
-int32_t size = 400;
+int32_t size = 200;
 void FollowBlock(int trackedBlock)
 {
     
@@ -80,12 +80,12 @@
 size += pixy.blocks[trackedBlock].width * pixy.blocks[trackedBlock].height;
 size -= size >> 3;
 // Forward speed decreases as we approach the object (size is larger)
-int forwardSpeed = constrain(400 - (size/256), -100, 400);
+int forwardSpeed = constrain(200 - (size/256), -100, 200);
 // Steering differential is proportional to the error times the forward speed
 int32_t differential = (followError + (followError * forwardSpeed))>>8;
 // Adjust the left and right speeds by the steering differential.
-int leftSpeed = constrain(forwardSpeed + differential, -400, 400);
-int rightSpeed = constrain(forwardSpeed - differential, -400, 400);
+int leftSpeed = constrain(forwardSpeed + differential, -200, 200);
+int rightSpeed = constrain(forwardSpeed - differential, -200, 200);
 // And set the motor speeds
 motors.setSpeedRegisters(leftSpeed,rightSpeed);
 }
@@ -104,9 +104,9 @@
 tiltLoop.m_pos = random(RCS_MAX_POS * 0.6, RCS_MAX_POS);
 scanIncrement = -scanIncrement;
 if (scanIncrement < 0){
-setSpeed(-250,250);}
+setSpeed(0,255);}
 else{
-setSpeed(0,250);}
+setSpeed(5,250);}
 wait(random(250, 500));
 }
 pixy.setServos(panLoop.m_pos, tiltLoop.m_pos);
@@ -117,7 +117,9 @@
 
 int main (void)
 {
-uint16_t blocks;    
+   
+uint16_t blocks;  
+  
 t.start();
     pc.format(8,Serial::None,1); 
     pc.baud(9600);