Matti Borchers
/
mbed_amf_controlsystem_iO_copy
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Fork of
mbed_amf_controlsystem_iO_copy
by 
Oliver Wenzel
Revision 6:aa27bc8c58f5, committed 2016-02-04
- Comitter:
- torstenwylegala
- Date:
- Thu Feb 04 17:46:19 2016 +0000
- Parent:
- 5:4319a748181a
- Child:
- 9:46c42975a0dc
- Commit message:
- foo
Changed in this revision
--- a/Controller/QuadratureController.cpp Thu Feb 04 15:27:37 2016 +0000
+++ b/Controller/QuadratureController.cpp Thu Feb 04 17:46:19 2016 +0000
@@ -1,6 +1,6 @@
#include "Controller/QuadratureController.h"
-QuadratureController::QuadratureController(PwmOut *pwmOut) {
+QuadratureController::QuadratureController(PwmOut *pwmOut, Queue<float, 2> *quadrature_queue, Queue<float, 2> *imu_queue_steering_angle) {
this->pwmOut = pwmOut;
this->quadrature_queue = quadrature_queue;
this->imu_queue_steering_angle = imu_queue_steering_angle;
--- a/Controller/QuadratureController.h Thu Feb 04 15:27:37 2016 +0000
+++ b/Controller/QuadratureController.h Thu Feb 04 17:46:19 2016 +0000
@@ -25,7 +25,7 @@
void init();
void check_queues();
public:
- QuadratureController(PwmOut *pwmOut);
+ QuadratureController(PwmOut *pwmOut, Queue<float, 2> *quadrature_queue, Queue<float, 2> *imu_queue_steering_angle);
void cylic_control();
};
--- a/main.cpp Thu Feb 04 15:27:37 2016 +0000
+++ b/main.cpp Thu Feb 04 17:46:19 2016 +0000
@@ -91,7 +91,7 @@
l_PWM=2000;
}
- drivePWM.pulsewidth_us(l_PWM);
+ drivePWM.pulsewidth_us(1700);
}
void redirect_quadrature_controller(void const *args) {
@@ -108,7 +108,7 @@
SupportSystem *supportSystem = new SupportSystem(0x80, &i2c);
- quadratureController = new QuadratureController(&steerPWM);
+ quadratureController = new QuadratureController(&steerPWM, &quadrature_queue, &imu_queue_steering_angle);
Thread machineDirectionControl(serial_thread);
@@ -132,7 +132,7 @@
wait(0.1);
- steering_angle_minnow_queue = 0.0;
+ steering_angle_minnow_queue = 10.0;
quadrature_queue.put(&steering_angle_minnow_queue);
velocity_minnow_queue = 1.5;