Diff: main.cpp

Revision:

4:f4852befd69c

Parent:

3:dadfc15fc2d1

Child:

5:137dfb3e692f

--- a/main.cpp	Thu Feb 23 20:59:25 2017 +0000
+++ b/main.cpp	Thu Mar 02 21:39:22 2017 +0000
@@ -4,6 +4,9 @@
 //#define CIRCUMFERENCE SOMEINT //circumference in some unit of measurement (inches perhaps?)
 //#define RESWIDTH 80  //resolution width/height. change these based on actual resolution
 //#define RESHEIGHT 60
+#define STRAIGHT 0.00095f
+#define FULLRIGHT 0.0013f
+#define FULLLEFT 0.0006
 
 //InterruptIn camera(PXXX); //can set up to get a frame from the camera whenever is sends one? does the camera even have a pin for this?
 //Timer timer;
@@ -34,15 +37,33 @@
     }//i for
     return frame;
 }
+*/
 
-void turnWheels(int[][] frame){
+void setAccel(float turnAngle){//, float speed){
     //ififififififif
+    turnAngle -= STRAIGHT; //this gets a value from -0.00035 and +0.00035
+    turnAngle = abs(turnAngle);
+    float turnRatio = turnAngle/0.00035f;
+    float newSpeed = (0.9*(1-turnRatio)/4)+0.1;
+    motor.write(newSpeed);
 }
 
-void setAccel(int[][] frame, float speed){
+void turnWheels(){//int[][] frame, float speed){
     //ififififififif
+    for(float p=FULLLEFT; p<=FULLRIGHT; p += 0.00005f) {
+        servo.pulsewidth(p);
+        setAccel(p);
+        wait(.1);
+    }//for p increase
+    for(float p=FULLRIGHT; p>=FULLLEFT; p -= 0.00005f) {
+        servo.pulsewidth(p);
+        setAccel(p);
+        wait(.1);
+    }//for p decrease
 }
 
+
+/*
 int startFinish(int[][] frame){
     //if start
     return 1;
@@ -56,11 +77,11 @@
 int main() {    
     //timer.start();
     motor.period_us(50);
-    motor.write(0.50);
-    DIR_R = 1;
+    //motor.write(0.25);
+    DIR_R = 1; //what purpose do these lines serve?
     DIR_L = 0;
     servo.period(0.020f);
-    servo.pulsewidth(0.0015f);
+    //servo.pulsewidth(STRAIGHT);
     while(1){
         /*
         if(rotation){
@@ -73,19 +94,9 @@
         //camera.rise(&frame); //idea is that camera tells MCU that it's sending a frame
         //frame = frame();
         if(startFinish(frame)){; //frame returns the result 
-            turnWheels(frame);
-            setAccel(frame, speed);
         */
-        
-        //these will go to turnWheel() later
-        for(float p=0.0001f; p<=0.0015f; p += 0.00005f) {
-            servo.pulsewidth(p);
-            wait(.05);
-        }//for p increase
-        for(float p=0.0015f; p>=0.0001f; p -= 0.00005f) {
-            servo.pulsewidth(p);
-            wait(.05);
-        }//for p decrease
+            turnWheels();//frame, speed); //includes setAccel();
+            //setAccel(frame, speed);
         //} //end if(startFinish(frame))        
     }//while 1
 }//main
\ No newline at end of file