Clark Lin / Mbed 2 deprecated BX-car

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Dependencies:   mbed

Fork of BX-car by kao yi

Files at this revision

API Documentation at this revision

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

controller.cpp Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
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);