.
Dependencies: L432KC_SPI_Pey_Lal
Diff: main.cpp
- Revision:
- 117:58148bdd13b7
- Parent:
- 116:6dfcafa00e42
- Child:
- 118:67d6698069fd
diff -r 6dfcafa00e42 -r 58148bdd13b7 main.cpp --- a/main.cpp Mon May 23 12:55:02 2022 +0000 +++ b/main.cpp Mon May 23 13:05:26 2022 +0000 @@ -83,6 +83,8 @@ switch(receivedCommand) { case COMMAND_PWM: + //Turn off PI + commandEnabled = false; //1st. get the values pulsewidth_propulsion = protocolReceivedPayload[0] << 8; pulsewidth_propulsion += protocolReceivedPayload[1]; @@ -94,6 +96,8 @@ break; case COMMAND_ASSERVISSEMENT: + //Turn on PI + commandEnabled = true; //1st. commandSpeed = convertBytesToFloat(protocolReceivedPayload, 0); pulsewidth_direction = protocolReceivedPayload[4] << 8; @@ -103,7 +107,9 @@ break; case COMMAND_PARAMETRES: - { + { + //Turn on PI + commandEnabled = true; //1st. float kp = convertBytesToFloat(protocolReceivedPayload, 0); float ki = convertBytesToFloat(protocolReceivedPayload, 4); @@ -158,8 +164,11 @@ void onTickerAsservissementInterrupt() { //Command car's speed - pulsewidth_propulsion = PID(commandSpeed - currentSpeed, CONTROL_RATE); + if (commandEnabled) + pulsewidth_propulsion = PID(commandSpeed - currentSpeed, CONTROL_RATE); propulsion.pulsewidth_us(pulsewidth_propulsion); - //Open loop (for coef) + //Open loop (for transformation parameters) + //pulsewidth_propulsion = PID(commandSpeed, CONTROL_RATE); + //propulsion.pulsewidth_us(pulsewidth_propulsion); } \ No newline at end of file