Revision 85:b0858346d838, committed 2013-04-16

Comitter:

madcowswe

Date:

Tue Apr 16 10:43:15 2013 +0000

Parent:

84:00c799fd10a7

Child:

86:769e33a3f0ff

Commit message:

diff

Changed in this revision

--- a/Actuators/Arms/Arm.cpp	Tue Apr 16 10:05:58 2013 +0000
+++ b/Actuators/Arms/Arm.cpp	Tue Apr 16 10:43:15 2013 +0000
@@ -3,7 +3,7 @@
 namespace arm
 {
 
-Arm lower_arm(p25, 0.05, 0.9, 2.0);
-Arm upper_arm(p26, 0.05, 0.6, 2.5);
+Arm lower_arm(p25, 0.05, 0.9, 1.9);//2.0
+Arm upper_arm(p26, 0.05, 0.6, 2.2);//2.5
 
 } //namespace
\ No newline at end of file

--- a/Processes/AI/ai.cpp	Tue Apr 16 10:05:58 2013 +0000
+++ b/Processes/AI/ai.cpp	Tue Apr 16 10:43:15 2013 +0000
@@ -64,12 +64,13 @@
    
     MotorControl::motorsenabled = false;
     arm::upper_arm.go_up();
-    arm::lower_arm.go_up();
+    arm::lower_arm.go_down();
     
     Thread::signal_wait(0x2); //wait for cord
     
     // CORD PULLED
     MotorControl::motorsenabled = true;
+    arm::lower_arm.go_up();
     
     #ifdef TEAM_BLUE
     Waypoint mid_wp = {1.8, 1, (1.0/4.0)*PI, 0.03, 0.05*PI, 32};
@@ -87,7 +88,7 @@
     
     Waypoint mutable_cake_wp = {0, 0, 0, 0.01, 0.01*PI, 512};
     
-    float r = 0.26+0.35+0.01+0.01; //second 0.01 for being less collisiony with sensors
+    float r = 0.26+0.35-0.01; //second 0.01 for being less collisiony with sensors
     
     layer layer_to_push = top_layer;
     
@@ -132,7 +133,7 @@
             if ((colour_read==own_colour) && MotorControl::motorsenabled)
             {
                 arm::upper_arm.go_down();
-                top_arm_up_timer.start(1200);
+                top_arm_up_timer.start(1100);
             }
         }
         else
@@ -141,10 +142,10 @@
             if ((colour_read==own_colour || i==5 || i==7 || i==8 || i==10/*|| colour_read==WHITE*/) && MotorControl::motorsenabled)
             {
                 arm::lower_arm.go_down();
-                bottom_arm_up_timer.start(1200);
+                bottom_arm_up_timer.start(1100);
             }
         }
-        Thread::wait(2200);
+        Thread::wait(2000);
     }
     
     ////////////////////

--- a/Processes/Kalman/Kalman.cpp	Tue Apr 16 10:05:58 2013 +0000
+++ b/Processes/Kalman/Kalman.cpp	Tue Apr 16 10:43:15 2013 +0000
@@ -55,7 +55,7 @@
     printf("waiting for all sonar, and at least 1 IR\r\n");
     while( ((sensorseenflags & 0x7)^0x7) || !(sensorseenflags & 0x7<<3) );
 
-#ifdef TEAM_RED
+//#ifdef TEAM_RED
     //solve for our position (assume perfect bias)
     const float d = beaconpos[2].y - beaconpos[1].y;
     const float i = beaconpos[2].y - beaconpos[0].y;
@@ -63,7 +63,8 @@
     float r1 = RawReadings[SONAR2];
     float r2 = RawReadings[SONAR1];
     float r3 = RawReadings[SONAR0];
-#endif
+//#endif
+/*
 #ifdef  TEAM_BLUE
     const float d = beaconpos[1].y - beaconpos[2].y;
     const float i = beaconpos[0].y - beaconpos[2].y;
@@ -72,21 +73,24 @@
     float r2 = RawReadings[SONAR1];
     float r3 = RawReadings[SONAR0];
 #endif
+*/
 
     printf("ranges: 0: %0.4f, 1: %0.4f, 2: %0.4f \r\n", r1, r2, r3);
 
     float y_coor = (r1*r1-r2*r2+d*d)/(2*d);
     float x_coor = (r1*r1-r3*r3+i*i+j*j)/(2*j) - (i*y_coor)/j;
 
-#ifdef TEAM_RED
+//#ifdef TEAM_RED
     //coordinate system hack (for now)
     x_coor = beaconpos[2].x - x_coor;
     y_coor = beaconpos[2].y - y_coor;
-#endif
+//#endif
+/*
 #ifdef  TEAM_BLUE
     x_coor = x_coor - beaconpos[2].x;
     y_coor = y_coor - beaconpos[2].y;
 #endif
+*/
 
     printf("solved pos from sonar: %f, %f \r\n", x_coor, y_coor);
 

--- a/Processes/Motion/motion.cpp	Tue Apr 16 10:05:58 2013 +0000
+++ b/Processes/Motion/motion.cpp	Tue Apr 16 10:43:15 2013 +0000
@@ -134,7 +134,7 @@
     
     
     // forward velocity controller
-    const float p_gain_fv = 0.9;//0.7; //TODO: tune
+    const float p_gain_fv = 0.85;//0.7; //TODO: tune
     
     float max_fv = 0.3;//0.2; // meters per sec //TODO: tune
     float max_fv_reverse = 0.03; //TODO: tune

--- a/globals.cpp	Tue Apr 16 10:05:58 2013 +0000
+++ b/globals.cpp	Tue Apr 16 10:43:15 2013 +0000
@@ -2,9 +2,11 @@
 #include "globals.h"
 
 //Store global objects here
-#ifdef TEAM_RED
+//#ifdef TEAM_RED
 pos beaconpos[] = {{-0.040,1}, {3.040,-0.040}, {3.040,2.040}};
-#endif
+//#endif
+/*
 #ifdef  TEAM_BLUE
 pos beaconpos[] = {{3.040,1}, {-0.040,2.040}, {-0.040,-0.040}};
 #endif
+*/

--- a/globals.h	Tue Apr 16 10:05:58 2013 +0000
+++ b/globals.h	Tue Apr 16 10:43:15 2013 +0000
@@ -2,8 +2,8 @@
 #ifndef GLOBALS_H
 #define GLOBALS_H
 
-//#define TEAM_RED
-#define TEAM_BLUE
+#define TEAM_RED
+//#define TEAM_BLUE
 
 #include "mbed.h"