Diff: main.cpp

Revision:

34:d6c0cf60cecd

Parent:

32:c3676d4df853

Child:

35:02166ac9de6f

Child:

39:80b565a355f3

--- a/main.cpp	Thu Apr 23 20:35:32 2020 +0000
+++ b/main.cpp	Thu Apr 23 21:04:22 2020 +0000
@@ -22,8 +22,8 @@
 ///////////////////////////// Control System Variables/////////////////////////
 ///////////////////////////////////////////////////////////////////////////////
 float rp = 50;
-float rd = 51;
-float ri = 50;
+float rd = 60;
+float ri = 20;
 float desired_angle = 0;
 
 float speed = 0;
@@ -211,7 +211,10 @@
         
         angleMutex.lock();
         pc.printf("pAngle: %f", pAngle/70);
-        pc.printf("    speed: %f\n\r", speed);
+        pc.printf("    speed: %f", speed);
+        parametersmutex.lock();
+        pc.printf("rp: %f, rd: %f, ri: %f, desired_angle: %f\n\r", rp, rd, ri, desired_angle);
+        parametersmutex.unlock();
         angleMutex.unlock();