2014 Eurobot fork
Dependencies: mbed-rtos mbed QEI
Revision 85:b0858346d838, committed 2013-04-16
- Comitter:
- madcowswe
- Date:
- Tue Apr 16 10:43:15 2013 +0000
- Parent:
- 84:00c799fd10a7
- Child:
- 86:769e33a3f0ff
- Commit message:
- diff
Changed in this revision
--- a/Actuators/Arms/Arm.cpp Tue Apr 16 10:05:58 2013 +0000 +++ b/Actuators/Arms/Arm.cpp Tue Apr 16 10:43:15 2013 +0000 @@ -3,7 +3,7 @@ namespace arm { -Arm lower_arm(p25, 0.05, 0.9, 2.0); -Arm upper_arm(p26, 0.05, 0.6, 2.5); +Arm lower_arm(p25, 0.05, 0.9, 1.9);//2.0 +Arm upper_arm(p26, 0.05, 0.6, 2.2);//2.5 } //namespace \ No newline at end of file
--- a/Processes/AI/ai.cpp Tue Apr 16 10:05:58 2013 +0000 +++ b/Processes/AI/ai.cpp Tue Apr 16 10:43:15 2013 +0000 @@ -64,12 +64,13 @@ MotorControl::motorsenabled = false; arm::upper_arm.go_up(); - arm::lower_arm.go_up(); + arm::lower_arm.go_down(); Thread::signal_wait(0x2); //wait for cord // CORD PULLED MotorControl::motorsenabled = true; + arm::lower_arm.go_up(); #ifdef TEAM_BLUE Waypoint mid_wp = {1.8, 1, (1.0/4.0)*PI, 0.03, 0.05*PI, 32}; @@ -87,7 +88,7 @@ Waypoint mutable_cake_wp = {0, 0, 0, 0.01, 0.01*PI, 512}; - float r = 0.26+0.35+0.01+0.01; //second 0.01 for being less collisiony with sensors + float r = 0.26+0.35-0.01; //second 0.01 for being less collisiony with sensors layer layer_to_push = top_layer; @@ -132,7 +133,7 @@ if ((colour_read==own_colour) && MotorControl::motorsenabled) { arm::upper_arm.go_down(); - top_arm_up_timer.start(1200); + top_arm_up_timer.start(1100); } } else @@ -141,10 +142,10 @@ if ((colour_read==own_colour || i==5 || i==7 || i==8 || i==10/*|| colour_read==WHITE*/) && MotorControl::motorsenabled) { arm::lower_arm.go_down(); - bottom_arm_up_timer.start(1200); + bottom_arm_up_timer.start(1100); } } - Thread::wait(2200); + Thread::wait(2000); } ////////////////////
--- a/Processes/Kalman/Kalman.cpp Tue Apr 16 10:05:58 2013 +0000 +++ b/Processes/Kalman/Kalman.cpp Tue Apr 16 10:43:15 2013 +0000 @@ -55,7 +55,7 @@ printf("waiting for all sonar, and at least 1 IR\r\n"); while( ((sensorseenflags & 0x7)^0x7) || !(sensorseenflags & 0x7<<3) ); -#ifdef TEAM_RED +//#ifdef TEAM_RED //solve for our position (assume perfect bias) const float d = beaconpos[2].y - beaconpos[1].y; const float i = beaconpos[2].y - beaconpos[0].y; @@ -63,7 +63,8 @@ float r1 = RawReadings[SONAR2]; float r2 = RawReadings[SONAR1]; float r3 = RawReadings[SONAR0]; -#endif +//#endif +/* #ifdef TEAM_BLUE const float d = beaconpos[1].y - beaconpos[2].y; const float i = beaconpos[0].y - beaconpos[2].y; @@ -72,21 +73,24 @@ float r2 = RawReadings[SONAR1]; float r3 = RawReadings[SONAR0]; #endif +*/ printf("ranges: 0: %0.4f, 1: %0.4f, 2: %0.4f \r\n", r1, r2, r3); float y_coor = (r1*r1-r2*r2+d*d)/(2*d); float x_coor = (r1*r1-r3*r3+i*i+j*j)/(2*j) - (i*y_coor)/j; -#ifdef TEAM_RED +//#ifdef TEAM_RED //coordinate system hack (for now) x_coor = beaconpos[2].x - x_coor; y_coor = beaconpos[2].y - y_coor; -#endif +//#endif +/* #ifdef TEAM_BLUE x_coor = x_coor - beaconpos[2].x; y_coor = y_coor - beaconpos[2].y; #endif +*/ printf("solved pos from sonar: %f, %f \r\n", x_coor, y_coor);
--- a/Processes/Motion/motion.cpp Tue Apr 16 10:05:58 2013 +0000 +++ b/Processes/Motion/motion.cpp Tue Apr 16 10:43:15 2013 +0000 @@ -134,7 +134,7 @@ // forward velocity controller - const float p_gain_fv = 0.9;//0.7; //TODO: tune + const float p_gain_fv = 0.85;//0.7; //TODO: tune float max_fv = 0.3;//0.2; // meters per sec //TODO: tune float max_fv_reverse = 0.03; //TODO: tune
--- a/globals.cpp Tue Apr 16 10:05:58 2013 +0000 +++ b/globals.cpp Tue Apr 16 10:43:15 2013 +0000 @@ -2,9 +2,11 @@ #include "globals.h" //Store global objects here -#ifdef TEAM_RED +//#ifdef TEAM_RED pos beaconpos[] = {{-0.040,1}, {3.040,-0.040}, {3.040,2.040}}; -#endif +//#endif +/* #ifdef TEAM_BLUE pos beaconpos[] = {{3.040,1}, {-0.040,2.040}, {-0.040,-0.040}}; #endif +*/
--- a/globals.h Tue Apr 16 10:05:58 2013 +0000 +++ b/globals.h Tue Apr 16 10:43:15 2013 +0000 @@ -2,8 +2,8 @@ #ifndef GLOBALS_H #define GLOBALS_H -//#define TEAM_RED -#define TEAM_BLUE +#define TEAM_RED +//#define TEAM_BLUE #include "mbed.h"