Diff: main.cpp

Revision:

6:572b9755f2c1

Parent:

5:4f2a072ed289

Child:

7:f09208f9a4f7

--- a/main.cpp	Wed Mar 30 03:52:21 2016 +0000
+++ b/main.cpp	Wed Mar 30 04:01:53 2016 +0000
@@ -93,16 +93,7 @@
     PCConn.printf("B: %f\r\n",currentBrake);
     bool currentEngineState = rawParams.EngineState;
     rawParamsMutex.unlock();   
-    
-    SpeedMutex.unlock();
-    float lastSpeed_copy = lastSpeed;
-    SpeedMutex.lock();
 
-        // Calculate speed in m/s, convert to mph
-//        float Acc = ((lastSpeed_copy/2.23) + ((7*currentAccelerometer)*0.05));
-//        float Dec = ((lastSpeed_copy/2.23) + ((7*currentBrake)*0.05));
-//        
-//        newSpeed = (Acc - Dec)*2.23;
 #define MAX_SPEED 100
     newSpeed = currentAccelerometer*MAX_SPEED*(1-currentBrake)*currentEngineState;
     
@@ -114,16 +105,11 @@
     
     speedParams.rawSpeed[speedParams.counter] = newSpeed;
     SpeedMutex.unlock();
-    
-    lastSpeed = newSpeed;
-    
+        
     speedParams.counter = speedParams.counter++;
-    
-    
-    
+ 
 }
 
-
 // ============================================================================
 // Control System Tasks
 // ============================================================================
@@ -211,13 +197,13 @@
 
 
 void Task6_UpdateOdometer(void const *arg)
-{
-    totalDistance = 50;
-    
+{   
     filteredParamsMutex.lock();
     float currentAverageSpeed = filteredParams.AverageSpeed;
     filteredParamsMutex.unlock();
     
+    totalDistance = totalDistance + (currentAverageSpeed*(0.5/3600));
+    
     lcd -> cls();
     lcd -> locate(0,0);
     lcd -> printf("Dist: %8.2f",totalDistance);
@@ -318,6 +304,8 @@
     speedParams.rawSpeed[2] = 0.0;
     
     filteredParams.AverageSpeed = 0.0;
+    
+    totalDistance = 0.0;
 }