Revision f8cf404d components/MotorControl.cpp
| components/MotorControl.cpp | ||
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| 232 | 232 |
System::getTime() - this->wheelCalibrationTime > 1500) {
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| 233 | 233 |
this->motorCalibrationFactor = (float)this->rightWValues[0]/(float)this->leftWValues[0]; |
| 234 | 234 |
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| 235 |
chprintf((BaseSequentialStream*) &SD1, "motorCalibrationFactor = %f \n" ,this->motorCalibrationFactor);
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| 236 |
chprintf((BaseSequentialStream*) &SD1, "rw = %i \n" ,this->rightWValues[0]);
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| 237 |
chprintf((BaseSequentialStream*) &SD1, "lw = %i \n" ,this->leftWValues[0]);
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| 235 |
chprintf((BaseSequentialStream*) &global.sercanmux1, "motorCalibrationFactor = %f \n" ,this->motorCalibrationFactor);
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chprintf((BaseSequentialStream*) &global.sercanmux1, "rw = %i \n" ,this->rightWValues[0]);
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| 237 |
chprintf((BaseSequentialStream*) &global.sercanmux1, "lw = %i \n" ,this->leftWValues[0]);
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| 238 | 238 |
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| 239 | 239 |
this->pwmPercentage[LEFT_WHEEL] = 0; |
| 240 | 240 |
this->pwmPercentage[RIGHT_WHEEL] = 0; |
| ... | ... | |
| 257 | 257 |
if (ziegler && ziegler2){
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| 258 | 258 |
this->targetVelocity.x = 200000 * ((zieglerHelp%2 == 0) ? 1 : -1); |
| 259 | 259 |
this->pGain = 1000 + 100 * zieglerHelp; |
| 260 |
chprintf((BaseSequentialStream*) &SD1, "pgain = %i \n" , this->pGain);
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chprintf((BaseSequentialStream*) &global.sercanmux1, "pgain = %i \n" , this->pGain);
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| 261 | 261 |
zieglerHelp++; |
| 262 | 262 |
ziegler = false; |
| 263 | 263 |
ziegler2 = false; |
| ... | ... | |
| 281 | 281 |
zieglerHelp2++; |
| 282 | 282 |
if (zieglerHelp2 > 20){
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| 283 | 283 |
this->zieglerPeriod = numberOfLastVelocitiesV * this->period / nsc; |
| 284 |
chprintf((BaseSequentialStream*) &SD1, "zieglerPeriod = %f \n" ,this->zieglerPeriod);
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chprintf((BaseSequentialStream*) &global.sercanmux1, "zieglerPeriod = %f \n" ,this->zieglerPeriod);
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| 285 | 285 |
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| 286 | 286 |
this->targetVelocity.x = 0; |
| 287 | 287 |
this->pGain = (int) (this->pGain* 0.6); |
| ... | ... | |
| 290 | 290 |
this->memory->setpGain(this->pGain); |
| 291 | 291 |
this->memory->setiGain(this->iGain); |
| 292 | 292 |
this->memory->setdGain(this->dGain); |
| 293 |
chprintf((BaseSequentialStream*) &SD1, "pgain = %i \n" ,this->pGain);
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| 294 |
chprintf((BaseSequentialStream*) &SD1, "igain = %f \n" ,this->iGain);
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chprintf((BaseSequentialStream*) &SD1, "dgain = %f \n" ,this->dGain);
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chprintf((BaseSequentialStream*) &global.sercanmux1, "pgain = %i \n" ,this->pGain);
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chprintf((BaseSequentialStream*) &global.sercanmux1, "igain = %f \n" ,this->iGain);
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chprintf((BaseSequentialStream*) &global.sercanmux1, "dgain = %f \n" ,this->dGain);
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| 296 | 296 |
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| 297 | 297 |
this->motorCalibration = true; |
| 298 | 298 |
ziegler = true; |
| ... | ... | |
| 428 | 428 |
} |
| 429 | 429 |
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| 430 | 430 |
void MotorControl::printGains(){
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| 431 |
chprintf((BaseSequentialStream*)&SD1, "motorCalibrationFactor %f\n", this->motorCalibrationFactor );
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| 432 |
chprintf((BaseSequentialStream*)&SD1, "pGain %i\n", this->pGain );
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chprintf((BaseSequentialStream*)&SD1, "iGain %f\n", this->iGain );
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chprintf((BaseSequentialStream*)&SD1, "dGain %f\n", this->dGain );
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chprintf((BaseSequentialStream*)&global.sercanmux1, "motorCalibrationFactor %f\n", this->motorCalibrationFactor );
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chprintf((BaseSequentialStream*)&global.sercanmux1, "pGain %i\n", this->pGain );
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chprintf((BaseSequentialStream*)&global.sercanmux1, "iGain %f\n", this->iGain );
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chprintf((BaseSequentialStream*)&global.sercanmux1, "dGain %f\n", this->dGain );
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| 435 | 435 |
} |
| 436 | 436 |
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| 437 | 437 |
void MotorControl::resetGains() |
Also available in: Unified diff