Diff: main.cpp

Revision:

6:f725ca58583f

Parent:

5:473edb6558fa

diff -r 473edb6558fa -r f725ca58583f main.cpp
--- a/main.cpp	Thu Feb 09 07:10:47 2017 +0000
+++ b/main.cpp	Thu Feb 09 08:59:18 2017 +0000
@@ -46,7 +46,7 @@
 
 int main()
 {
-    char buffer[100][150];
+    char buffer[150][150];
     int i,j;
     double C;
     float duty_output;
@@ -72,7 +72,7 @@
 
 
 //---ammeter setting end---
-    duty_output = 0.6;
+    duty_output = 0.0;
     duty.period(0.00005);
 //    NVIC_SetPriority(0, 1);
 
@@ -94,24 +94,21 @@
 
         while (1) {
             accelerometer.getOutput(readings);
-            if( abs((int16_t)readings[0]) > 10) {
+            if( abs((int16_t)readings[0]) > 20) {
                 myled3 = 1;
                 break;
             }
-            wait(0.01);
+            wait(0.001);
         }
         save.attach(&savedata, 0.01 );
         t.start();
 
 
-        while(t.read() <= 0.51) {
-//            debug.printf("loop sensorB\n");
+        while(t.read() <= 0.50) {
             if(flag) {
                 flag = 0;
                 controller( &v, &duty_output, &acce_device, &acce_output, &F_output);
-//                duty.write(duty_output);
                 read_current( &C);
-//                debug.printf("duty = %f\n",duty_output);
                 if(1) {
                     sprintf(buffer[i],"%f10,%f10,%f10,%f10,%f10,%f10",t.read(),C,acce_device,C,duty_output,F_output);
                     if( i > 299) {
@@ -258,6 +255,7 @@
     while(!sensorD);
     duty = 0.0f;
     wait(2.0);
+    myled4 = 1;
 }
 
 void controller(double *v,float *duty_output,double *acce_device, double *acce_output, double *F)
@@ -283,17 +281,20 @@
         if(abs(*v) > 0) {
             F_1 = -1 * ( ka * *acce_device) + (kv * *v);
             *F = 0.35 * F_1 + 0.4 * F_2 + 0.25 * F_3;
-            *acce_output = *F / 8.5;
+            *acce_output = *F / 5.0;
             *duty_output = *acce_output / 118 + *duty_output;
+            
+            /*
+            if(intrrupt_checker <= intrrupt_cnt){
+                *duty_output = *duty_output + 0.2;
+                intrrupt_checker = intrrupt_cnt + 8;
+            }*/
             if(*duty_output > 1.0) {
                 *duty_output = 1.0;
                 myled4 = 1;
             }
             
-            if(intrrupt_checker == intrrupt_cnt){
-                *duty_output = *duty_output + 0.03;
-                intrrupt_checker = intrrupt_checker + 2;
-            }
+            
             
             
             duty.write(*duty_output);