Diff: main.cpp

Revision:

40:8a37ea9d006d

Parent:

39:f2f0308ebecd

Child:

41:9c7e35212c68

--- a/main.cpp	Thu Dec 09 13:14:05 2021 +0000
+++ b/main.cpp	Fri Dec 10 20:28:29 2021 +0000
@@ -41,7 +41,7 @@
 int yo_num=0;               //global yo_num default 0
 float thrust_on_time=0;     //global thrust_on time default 0
 float accelData[3];         //global accel data
-float vessel_length=1;
+//float vessel_length=0.75;   //vessel length 0.75 meters
 
 //functions
 void welcome();
@@ -51,8 +51,8 @@
 void accel_update(); //update accelerometer related variables. we use imu_ticker to call this function
 
 //Control Parameters
-float tim = 1;           //define thruster on time
-float percent = 1.5;    //user defined percent of thrust power
+float tim = 5;           //define thruster on time
+float percent = 1.7;    //user defined percent of thrust power
 
 //Control related functions
 void thrust_on(float pw, float on_time);  //input is pulse width
@@ -93,7 +93,7 @@
     //setup ticker to separate log and IMU data update.
     //so we could have all our control code in the while loop
     //   //log at 2 Hz
-    accel_ticker.attach(&accel_update,0.1);  //10Hz
+    accel_ticker.attach(&accel_update,1);  //
     log_ticker.attach(&log_data,0.5);
     led2=0;
     led1=0;
@@ -118,10 +118,10 @@
             float pw=percent;
             float on_time=5;
 
-            if (current_depth-vessel_length<2) {
+            if (current_depth-vessel_lenght<2) {
                 thrust_on(pw,on_time);
             }
-            if (timer2.read()>10) { //60 because counting in seconds?
+            if (timer2.read()>60) { //60 because counting in seconds?
                 return 0;
             }
         }
@@ -188,7 +188,7 @@
 ///-----------log functions---------------------///
 void log_data()
 {
-    
+
     p_sensor.Barometer_MS5837();
 
     //Code from Licht
@@ -202,10 +202,13 @@
     //Sample code indicates how to read accelerometer data:
     BLE.printf("Acceleration: %f %f %f\r\n",accelData[0],accelData[1],accelData[2]);
     //end of code from Licht
+    float ttime =t.read();
+    float depth =p_sensor.depth();
+    float pressure =p_sensor.MS5837_Pressure();
     
+
     fp = fopen(fname, "a");
-    fprintf(fp, "$DATA");
-    // Time:%f, Pressure:%f, Depth:%f, Acceleration:%f, %f, %f, Temp:%f, Light:%f, Percent:%f\r\n", t.read(),p_sensor.MS5837_Pressure(),p_sensor.depth(),accelData[0],accelData[1],accelData[2],temp.temp(),light.light(),percent);
+    fprintf(fp, "$DATA %f,%f,%f,%f,%f,%f \r\n", ttime,depth,pressure,accelData[0],accelData[1],accelData[2]);
     fclose(fp);
 }