basic code
Dependencies: FatFileSystem MSCFileSystem btbee m3pi_ng mbed
Fork of Robot by
Diff: main.cpp
- Revision:
- 7:99d09e88924b
- Parent:
- 6:c38929c0fd95
- Child:
- 8:7d491b51665e
--- a/main.cpp Fri May 22 15:07:30 2015 +0000 +++ b/main.cpp Wed May 27 12:02:28 2015 +0000 @@ -17,9 +17,9 @@ int main() { - int P_TERM = 5; - int I_TERM = 0; - int D_TERM = 20; + float P_TERM = 1; + float I_TERM = 0; + float D_TERM = 20; btbee.reset(); robot.sensor_auto_calibrate(); @@ -46,12 +46,14 @@ /* for (int i = 0; i <5; ++i) current_pos[i] = 0.0; */ - timer.start(); + + + wait(8); + btbee.printf("Battery: %f\n", robot.battery()); + //timer.start(); time_wait.start(); - - wait(8); while(y) { time_wait.reset(); //Get raw sensor values @@ -63,6 +65,7 @@ //Check to make sure battery isn't low if (robot.battery() < 2.4) { timer.stop(); + btbee.printf("Battery too low\n"); break; } @@ -79,6 +82,7 @@ } else if (lap == 2) { + robot.stop(); lap_time = timer.read(); total_time += lap_time; average_time = total_time/lap; @@ -87,20 +91,25 @@ btbee.printf("Lap %d time: %f\n", lap, lap_time); btbee.printf("Avg Lap time: %f\n", average_time); } - robot.stop(); + while (count < 3){ //btbee.printf("Input parameter\n"); btbee.read_line(arr_read, 30, &chars_read); paramChange[count] = atoi(arr_read); - btbee.printf("%d", arr_read); + //btbee.printf("%d", arr_read); count++; } P_TERM = paramChange[0]; I_TERM = paramChange[1]; D_TERM = paramChange[2]; + btbee.printf("PTERM %f\n", P_TERM); + btbee.printf("ITERM %f\n", I_TERM); + btbee.printf("DTERM %f\n", D_TERM); lap = 0; total_time = 0; count = 0; + timer.stop(); + timer.reset(); continue; } else {