Daniel Hadad / TFC-RACING-FSLMENTORMATTERS

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Dependencies:   FRDM-TFC

Fork of TFC-RACING-DEMO by Daniel Hadad

Files at this revision

API Documentation at this revision

Revision 2:999ca57934bf, committed 2014-06-25

Comitter:
simonchow
Date:
Wed Jun 25 18:25:18 2014 +0000
Parent:
1:87b28e8b9941
Commit message:
Track mode: Speed controlled with pot0; Kp controlled with pot1;

Changed in this revision

Spices/Spices.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/Spices/Spices.cpp	Tue Jun 24 06:38:55 2014 +0000
+++ b/Spices/Spices.cpp	Wed Jun 25 18:25:18 2014 +0000
@@ -29,7 +29,7 @@
 #define MIN_POWER 60                               // percent min power (estimating for a 2-ft turn => 24" / (24" + 6" car) = 4/5; speed of inner wheel is 20% lower worst case
 #define SPEED_ADJUST 4                             // do not change
 #define ABS_ERROR_THRESH 10                        // number of pixels line position offset before changing KP value
-#define CONTROL_METHOD 2                           // which control method to use
+#define CONTROL_METHOD 1                           // which control method to use
 
 
 // Drive/motor params
@@ -686,7 +686,7 @@
 
 void SteeringControl()
 {
-
+  float ReadPot1 = 1;
   float targetPosition = (float)( (NUM_LINE_SCAN / 2) - 0.5);  // target to achieve for line position
 
   float KP;                                                    // proportional control factor
@@ -717,8 +717,9 @@
       break;
    case 1:
       // Proportional control with 50% bit more oomph --- a bit more aggressive around the bends
+      ReadPot1 = TFC_ReadPot(1)+1; // pot range 0-2
       KP = (float) ( MAX_STEER_RIGHT - MAX_STEER_LEFT ) / ( NUM_LINE_SCAN - (2*FILTER_ENDS) - MIN_LINE_WIDTH );
-      KP = KP * 1.5;
+      KP = KP * ReadPot1;
       KD = 0;
       KI = 0;
       break;
@@ -844,9 +845,9 @@
   
   // set maximum speed
   if (doRisky)
-    MaxSpeed = LUDICROUS_SPEED; // faster
+    MaxSpeed = LUDICROUS_SPEED * ((TFC_ReadPot(0)+1)/2.0); // faster
   else
-    MaxSpeed = LIGHT_SPEED;     // slower
+    MaxSpeed = LIGHT_SPEED * ((TFC_ReadPot(0)+1)/2.0);     // slower
     
   switch (SPEED_ADJUST)
    {