Biblioteca PTC3471 - Algoritmo de Trava - V1.0
Dependents: Template_PTC3471_Geral LQR_With_Integrator_Implicito LQR_No_Integrator_Implicito Template_PTC3471_Geral_2020_V2 ... more
Fork of PTC3471 by
Diff: PTC3471.cpp
- Revision:
- 10:c26257e7778a
- Parent:
- 9:3e57f111bace
diff -r 3e57f111bace -r c26257e7778a PTC3471.cpp --- a/PTC3471.cpp Thu Aug 09 19:45:20 2018 +0000 +++ b/PTC3471.cpp Thu Aug 16 13:39:52 2018 +0000 @@ -30,26 +30,26 @@ Ctrl_LerAngulos(); if(Ctrl_dPhi>=0.01){ - Ctrl_Motor = min(2*Ctrl_dPhi, 0.3); + Ctrl_Motor = min(5*Ctrl_dPhi, 1); + Ctrl_Direita = 0; + Ctrl_Esquerda = 1; + } + else if(Ctrl_dPhi<=-0.01){ + Ctrl_Motor = min(-5*Ctrl_dPhi, 1); Ctrl_Direita = 1; Ctrl_Esquerda = 0; } - else if(Ctrl_dPhi<=-0.01){ - Ctrl_Motor = min(-2*Ctrl_dPhi, 0.3); - Ctrl_Direita = 0; - Ctrl_Esquerda = 1; - } else{ Ctrl_Direita=1; Ctrl_Esquerda=1; } - if(Ctrl_Status==0){ + /*if(Ctrl_Status==0){ Ctrl_Status = 1; } else{ Ctrl_Status = 0; - } + }*/ } void Ctrl_ChecarTrava(void){ @@ -58,7 +58,8 @@ Ctrl_StatusOk.detach(); Ctrl_Trava.detach(); Controler_Interrupt->detach(); - Ctrl_Trava.attach(&Ctrl_Travar, Ctrl_Ts); + Ctrl_StatusOk.attach(&Ctrl_BlinkOk, 0.1); + Ctrl_Trava.attach(&Ctrl_Travar, Ctrl_Ts/10); } }