Revision 16:7ada30380595, committed 2014-06-30

Comitter:

physicsgood

Date:

Mon Jun 30 03:13:49 2014 +0000

Parent:

15:3fa780990a6a

Commit message:

11

Changed in this revision

diff -r 3fa780990a6a -r 7ada30380595 controller.cpp
--- a/controller.cpp	Mon Jun 30 02:54:45 2014 +0000
+++ b/controller.cpp	Mon Jun 30 03:13:49 2014 +0000
@@ -195,12 +195,13 @@
     float centerB = sp;  // center of black
     float error = centerB - centerR;
     if(error > -8 && error <8){
-        return 0.085;
+        return Kp;
     }
     else if((error < -8 && error > -20)||(error > 8 && error < 40)){
-        return 0.085 + Kp*error;
+        //return 0.085 + Kp*error;
+        return Kp;
     }
-    else return 0.085;
+    else return Kp;
     
     
    

diff -r 3fa780990a6a -r 7ada30380595 main.cpp
--- a/main.cpp	Mon Jun 30 02:54:45 2014 +0000
+++ b/main.cpp	Mon Jun 30 03:13:49 2014 +0000
@@ -32,7 +32,7 @@
 //out_min out_max servo range
 //
 
-DigitalOut task_pin(PTD1);
+DigitalOut task_pin(PTD1);`
 TSISensor tsi;
 int main() {
     
@@ -150,25 +150,9 @@
          pc.printf("angle:  %f\r\n",PID_v);
          //pc.printf("%f %d %d speed :%f  bk_center %f PID:%f \r\n",cam_to_M_ctrlr.de_v,cam.de_v,cam.de_v2,motor,b_r_c,PID_v);
             //b_r_c range 0~128
-            /*error = 20 - b_r_c;
-            integral = 0.3 * integral + error;  //0.3 is the factor to make old datas become smaller
-            derivative = error - last_error;
-            
-            //turn = error*Kp + integral*Ki + derivative*Kd;
-            
-            if(error < -8 && error >8){
-                servo.set_angle(0.085);
-            }
-            else if (error > 8 && error <108){
-                servo.set_angle(0.085+turn);
-            }
-            else if (error <-8 && error>-20){
-                servo.set_angle(0.085+turn);
-            }*/
-            
             last_error = error;
          
-        servo.set_angle(0.05);
+        servo.set_angle(PID_v);