Diff: main.cpp

Revision:

15:9c5aaeda36dc

Parent:

14:c638d4b9ee94

Child:

16:52250d8d8fce

Child:

18:10adf96f5416

diff -r c638d4b9ee94 -r 9c5aaeda36dc main.cpp
--- a/main.cpp	Sat Apr 06 15:43:47 2013 +0000
+++ b/main.cpp	Sat Apr 06 20:57:54 2013 +0000
@@ -102,13 +102,16 @@
     //ledphototransistortest();
     //colourtest(); // Red SnR too low
     //cakesensortest();
-    //feedbacktest();
+    feedbacktest();
+    
+    /*
     DigitalOut l1(LED1);
     Thread p(printingThread,        NULL,   osPriorityNormal,   2048);
     l1=1;
     Thread a(printingtestthread,    NULL,   osPriorityNormal,   1024);
     Thread b(printingtestthread2,   NULL,   osPriorityNormal,   1024);
     Thread::wait(osWaitForever);
+    */
 }
 
 #include <cstdlib>
@@ -145,14 +148,14 @@
     Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B);
     MainMotor mright(P_MOT_RIGHT_A, P_MOT_RIGHT_B), mleft(P_MOT_LEFT_A, P_MOT_LEFT_B);
     
-    float Pgain = -0.002;
-    float fwdspeed = -200/3.0f;
+    float Pgain = -0.005;
+    float fwdspeed = -400/3.0f;
     Timer timer;
     timer.start();
     
     while(true){
         float expecdist = fwdspeed * timer.read();
-        float errleft = Eleft.getPoint() - (expecdist*1.07f);
+        float errleft = Eleft.getPoint() - (expecdist*1.05);
         float errright = Eright.getPoint() - expecdist;
         
         mleft(max(min(errleft*Pgain, 0.4f), -0.4f));
@@ -350,12 +353,12 @@
 }
 
 void encodertest(){
-    Encoder E1(p28, p27);
-    Encoder E2(p29, p30);
+    Encoder E1(P_ENC_LEFT_A, P_ENC_LEFT_B);
+    //Encoder E2(P_ENC_RIGHT_A, P_ENC_RIGHT_B);
     Serial pc(USBTX, USBRX);
     while(true){
         wait(0.1);
-        pc.printf("Position is: %i \t %i \n\r", E1.getPoint(), E2.getPoint());
+        pc.printf("Position is: %i \t %i \n\r", E1.getPoint(), 0);//E2.getPoint());
     }
 
 }