N K
/
GaNtroller
a fork of priustroller
Fork of priustroller_current by
main.cpp@25:0003b824dd7d, 2015-03-10 (annotated)
- Committer:
- nki
- Date:
- Tue Mar 10 17:47:08 2015 +0000
- Revision:
- 25:0003b824dd7d
- Parent:
- 24:f1ff9c7256b5
- Child:
- 26:d00561c7bf43
fixed swapped _kp and _kd in context.cpp; doesn't run great with the loop closed.;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bwang | 0:54cf32d35f4d | 1 | #include "includes.h" |
bwang | 11:dccbaa9274c5 | 2 | #include "transforms.h" |
bwang | 11:dccbaa9274c5 | 3 | #include "filters.h" |
bwang | 11:dccbaa9274c5 | 4 | #include "context.h" |
bwang | 1:1f58bdcf2956 | 5 | #include "core.h" |
bwang | 1:1f58bdcf2956 | 6 | #include "meta.h" |
bwang | 11:dccbaa9274c5 | 7 | #include "sensors.h" |
bwang | 11:dccbaa9274c5 | 8 | #include "callbacks.h" |
nki | 4:fdadf4a3577a | 9 | |
bwang | 11:dccbaa9274c5 | 10 | int main() { |
bwang | 11:dccbaa9274c5 | 11 | Context *context = new Context(); |
bwang | 11:dccbaa9274c5 | 12 | context->ConfigureOutputs(D6, D13, D3, D8); |
nki | 25:0003b824dd7d | 13 | context->ConfigureCurrentSensors(A1, A2, 0.01f, 0.99995f); |
nki | 25:0003b824dd7d | 14 | context->ConfigurePidControllers(0.01f, 0.8f, 0.0f, 2.0f, -2.0f); |
bwang | 11:dccbaa9274c5 | 15 | context->ConfigureThrottle(A0, 0.8f, 3.0f); |
bwang | 11:dccbaa9274c5 | 16 | context->ConfigurePositionSensor(A4, A5, 0.249f, 0.497f, 0.231f, 0.499f, 205.0f); |
bwang | 24:f1ff9c7256b5 | 17 | context->ConfigureReference(5.0f); |
bwang | 24:f1ff9c7256b5 | 18 | context->ConfigureDebugger(2, 1000); |
bwang | 11:dccbaa9274c5 | 19 | context->AttachCallBack(&fast, 5000); |
bwang | 11:dccbaa9274c5 | 20 | context->AttachCallBack(&slow, 10); |
bwang | 11:dccbaa9274c5 | 21 | context->AttachCallBack(&debug, 10); |
bwang | 24:f1ff9c7256b5 | 22 | context->AttachCallBack(&log, 500); |
bwang | 11:dccbaa9274c5 | 23 | context->Start(); |
bwang | 0:54cf32d35f4d | 24 | } |