Diff: main.cpp

Revision:

21:6954cc25f2a7

Parent:

20:c5fb2ff5d457

Child:

22:b29ba919d93e

--- a/main.cpp	Tue Oct 20 13:16:37 2015 +0000
+++ b/main.cpp	Tue Oct 20 13:51:30 2015 +0000
@@ -42,8 +42,8 @@
 //////////////////////////////////CONTROLLER
 const double control_frequency=25;// frequency at which the controller is called
 //controller constants
-float Kp=0.5;
-float Ki=0.01;
+float Kp=1;
+float Ki=0.1;
 float Kd=0.001;
 
 controlandadjust mycontroller; // make a controller
@@ -94,9 +94,9 @@
 //////////////////////////////// POSITION AND ANGLE SHIZZLE
 const float safetymarginfield=0.075; //adjustable, tweak for maximum but safe range
 const float mm_per_sec_emg=0.050;// move the pod 50 mm per sec if muscle is flexed
-const float y_start=0.255;//starting y position of the pod
+const float y_start=0.155;//starting y position of the pod
 const float y_punch=0.473;// position to where there is punched
-const float timetoshoot=0.5;// time it can take to shoot
+const float timetoshoot=0.25;// time it can take to shoot
 
 float desired_position=0;
 float desired_angle1=0;
@@ -456,7 +456,9 @@
             if (switchedmode==true) {
                 pc.printf("Buttonmode, you can use the buttons to control the robot\n");
                 led1=led2=0;
-                ledred=ledblue=1;
+                ledred=ledblue=1;                
+                encoder1.reset();// reset encoders so they are at 0 degrees
+                encoder2.reset();
                 switchedmode=false;
             }
             if (ledblink_go==true) {
@@ -476,6 +478,7 @@
                 mycontroller.PI(error1,error2,Kp,Ki,Ts_control,error1_int,error2_int);
                 control_go=false;
             }
+            valuechangebutton.fall(&valuechange);// used to change controller variables and the gain for the filter
         }
 
     }