/ Mbed OS BagnoleAuto_PA_PAUL

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Dependencies:   L432KC_SPI_Pey_Lal

Files at this revision

API Documentation at this revision

Revision 117:58148bdd13b7, committed 2022-05-23

Comitter:
voltxd
Date:
Mon May 23 13:05:26 2022 +0000
Parent:
116:6dfcafa00e42
Child:
118:67d6698069fd
Commit message:
CuttingPIcommandWhenPWMcommand

Changed in this revision

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