Diff: main.cpp

Revision:

11:b62f06b3e398

Parent:

10:02584efdaa39

Child:

12:2f1e8b205d0f

--- a/main.cpp	Thu Dec 03 15:37:40 2020 +0000
+++ b/main.cpp	Sun Dec 06 21:22:00 2020 +0000
@@ -82,12 +82,12 @@
         p_sensor.Barometer_MS5837();
         //Depth Holding
         if (p_sensor.depth()>2.0) {
-            thruster.pulsewidth(1.0/1000.00);
-            thruster2.pulsewidth(1.0/1000.00);
+            thruster.pulsewidth(1.1/1000.00);
+            thruster2.pulsewidth(1.1/1000.00);
         }
         else if(p_sensor.depth()<2.0) {
-            thruster.pulsewidth(1.6/1000.00);
-            thruster2.pulsewidth(1.6/1000.00);
+            thruster.pulsewidth(1.5/1000.00);
+            thruster2.pulsewidth(1.5/1000.00);
         }
         else if(p_sensor.depth()==2.0) {
             thruster.pulsewidth(1.3/1000.00);
@@ -176,13 +176,11 @@
 {
     fp= fopen(fname, "a");
     fprintf(fp, "$IMU,3,10, %f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f;\r\n",t.read(),accel[0],accel[1],accel[2],gyro[0],gyro[1],gyro[2],euler[0],euler[1],euler[2]);
+    fprintf(fp, "$SCI, 1, 3, %.3f, %.3f, %.3f; %\r\n", t.read(), t_sensor.temp(), Pcell.read());
     fclose(fp);
-    //log system time t.read()
-    // log imu data, log sciene data
+    
     // log pulse width
     // log pressure sensor data.
-    //science sensor: temp.temp(), light.light()
-    //IMU sensor
 
 }