Revision 771
control law for speed starting to work.
WARNING: can't use delay_ms with encoders_init
| main.c | ||
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| 9 | 9 |
#include <dragonfly_lib.h> |
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//#define usb_puti(x) x |
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#define GO 2048 |
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#define TARGET_V 25 |
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#define GO 1024 |
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#define K 1 |
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#define ABS(x) ((x>0)?x:-x) |
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int main(void) |
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{
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int l=0,r=0; |
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int l=0,r=0, motorl=0, motorr=0;
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short int lmin=0,rmin=0; |
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dragonfly_init(ALL_ON); |
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dragonfly_init(ALL_ON); |
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encoders_init(); |
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/* |
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motor1_set(FORWARD,200); |
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motor2_set(FORWARD,200); |
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while(1){
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l=encoder_get_v(LEFT); |
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r=encoder_get_v(RIGHT); |
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usb_puti(l);usb_puts(" ");
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usb_puti(r);usb_puts("\r\n");
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}*/ |
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//calibration code: |
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//TODO: this only find the min for stop->go, which is different than go->stop |
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encoders_init(); |
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while(l<10){
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while(l<10){
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l=encoder_get_dx(LEFT); |
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motor1_set(FORWARD,++lmin); |
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delay_ms(1); |
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encoder_wait(1); |
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usb_puts(".");
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} |
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motor1_set(FORWARD,0); |
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|
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while(r<10){
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r=encoder_get_dx(RIGHT); |
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motor2_set(FORWARD,++rmin); |
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delay_ms(1); |
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encoder_wait(1); |
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usb_puts("|");
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} |
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motor2_set(FORWARD,0); |
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usb_puts("lmin: ");usb_puti(lmin);
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usb_puts(" rmin: ");usb_puti(rmin);usb_puts("\r\n");
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//straight line forever code: |
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motorl=lmin; |
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motorr=rmin; |
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while(1){
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l=encoder_get_v(LEFT); |
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r=encoder_get_v(RIGHT); |
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motorl += (TARGET_V - l)*2; |
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motorr += (TARGET_V - r)*2; |
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usb_puti(motorl);usb_puts(":");usb_puti(l);usb_puts(" ");
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usb_puti(motorr);usb_puts(":");usb_puti(r);usb_puts("\r\n");
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if(motorl<0) |
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motorl=0; |
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if(motorl>255) |
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motorl=255; |
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if(motorr<0) |
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motorr=0; |
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if(motorr>255) |
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motorr=255; |
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motor1_set(FORWARD,motorl); |
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motor2_set(FORWARD,motorr); |
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encoder_wait(1); |
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} |
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//go exact distance code: |
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while(1){
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l=encoder_get_dx(LEFT); |
| ... | ... | |
| 59 | 115 |
if(r<0) |
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r=0; |
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usb_puti(l);usb_puts(" ");usb_puti(r);usb_puts("\r\n");
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usb_puti(l);usb_puts(":");usb_puti(encoder_get_v(LEFT));usb_puts(" ");
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usb_puti(r);usb_puts(":");usb_puti(encoder_get_v(RIGHT));usb_puts("\r\n");
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| 63 | 120 |
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motor1_set(FORWARD,(l<lmin)?(lmin+5):l); |
| 65 | 122 |
motor2_set(FORWARD,(r<rmin)?(rmin+5):r); |
Also available in: Unified diff