Diff: main.cpp

Revision:

25:a8bb69e99d6b

Parent:

24:fb1827be6f7e

Child:

26:c865244ca3cf

--- a/main.cpp	Tue Apr 19 18:26:44 2016 +0000
+++ b/main.cpp	Tue Apr 26 12:22:05 2016 +0000
@@ -8,14 +8,14 @@
 //PIDData speedPIDData = {0.3f, 2.0f, 0.02f};
 //PIDData turnPIDData = {5.0f, 0.1f, 0.04f};
 PIDData speedPIDData = {0.5f, 0.0f, 0.0f};
-PIDData turnPIDData = {5.0f, 0.1f, 0.04f};
+PIDData turnPIDData = {30.0f, 0.01f, 1.f};
 SyncGroup sync;
 
 MotorData mData = {PB_0, PC_0, PC_1};
 //EncoderData encData = {PA_0, PA_1, 100 * 64};
 EncoderData encData = {PA_0, PA_1, 102.083 * 64}; // https://www.pololu.com/product/2826
 
-EncoderMotor m(mData, encData, speedPIDData, turnPIDData, NULL);
+EncoderMotor m(mData, encData, speedPIDData, turnPIDData, &sync);
 
 //SpeedEncoder s(encData);
 
@@ -46,18 +46,22 @@
     
     m.setup();
     
-    float speed;
+    float rot, speed;
+    //m.rotate(1.f, 0.5);
+    
+    //sync.update(NULL, 0.5);
+    
     while(1)
     {
         //scanf("%f", &turn);
         //m.rotate(turn, 0.2);
-        //scanf("%f", &speed);
+        scanf("%f %f", &rot, &speed);
+        m.rotate(rot, speed);
         //m.drive(speed);
         //printf("%f %f\n", s.getTurnSpeed(), m.getSetSpeed());
         //printf("%f %f\n", m.s, m.getSetSpeed());
         
-        printf("%ld %f\n", m.getEncoder().getCount(), m.getEncoder().getTurn());
-        m.tick();
+        printf("%ld %f %f\n", m.getEncoder().getCount(), m.getEncoder().getTurn(), m.getSetTurn());
         //printf("%f %f\n", m.getEncoder().getTurn(), m.getSetTurn());
         wait(1.f / 60);
     }