2014 Eurobot fork
Dependencies: mbed-rtos mbed QEI
Revision 88:8850373c3f0d, committed 2013-04-16
- Comitter:
- madcowswe
- Date:
- Tue Apr 16 12:55:10 2013 +0000
- Parent:
- 87:272a7129b04b
- Child:
- 89:dfe8c2ec5b88
- Commit message:
- prelim final RED
Changed in this revision
--- a/Processes/AI/ai.cpp Tue Apr 16 12:24:25 2013 +0000 +++ b/Processes/AI/ai.cpp Tue Apr 16 12:55:10 2013 +0000 @@ -78,13 +78,19 @@ motion::setNewWaypoint(Thread::gettid(),&mid_wp); motion::waypoint_flag_mutex.unlock(); Thread::signal_wait(0x1); //wait until wp reached - #endif Waypoint approach_wp = {2.2, 1.83/*1.85*/, (-3.0f/4.0f)*PI, 0.03, 0.05*PI, 32}; motion::waypoint_flag_mutex.lock(); motion::setNewWaypoint(Thread::gettid(),&approach_wp); motion::waypoint_flag_mutex.unlock(); Thread::signal_wait(0x1); //wait until wp reached + #endif + /* + Waypoint approach_wp2 = {2.2-0.05, 1.83, (-3.0f/4.0f)*PI, 0.03, 0.05*PI, 32}; + motion::waypoint_flag_mutex.lock(); + motion::setNewWaypoint(Thread::gettid(),&approach_wp2); + motion::waypoint_flag_mutex.unlock(); + Thread::signal_wait(0x1); //wait until wp reached*/ Waypoint mutable_cake_wp = {0, 0, 0, 0.01, 0.01*PI, 512}; @@ -92,12 +98,12 @@ layer layer_to_push = top_layer; - float top_target_phi = (180-(11.25+22.5))/180*PI; + float top_target_phi = (180-(11.25/*+22.5*/))/180*PI; float bot_target_phi = (180-(7.5+15))/180*PI; float phi = 0; // angle of vector (robot->center of cake) - for(int i=0; i<17; ++i) + for(int i=0; i<18; ++i) { if (top_target_phi > bot_target_phi) { @@ -130,22 +136,22 @@ if(layer_to_push == top_layer) { ColourEnum colour_read = c_upper.getColour(); - if ((colour_read==own_colour) && MotorControl::motorsenabled) + if ((colour_read==own_colour || i==0) && MotorControl::motorsenabled) { arm::upper_arm.go_down(); - top_arm_up_timer.start(1100); + top_arm_up_timer.start(1200); } - } + } else { ColourEnum colour_read = c_lower.getColour(); - if ((colour_read==own_colour || i==5 || i==7 || i==8 || i==10/*|| colour_read==WHITE*/) && MotorControl::motorsenabled) + if ((colour_read==own_colour || i==5+1 || i==7+1 || i==8+1 || i==10+1/*|| colour_read==WHITE*/) && MotorControl::motorsenabled) { arm::lower_arm.go_down(); - bottom_arm_up_timer.start(1100); + bottom_arm_up_timer.start(1200); } } - Thread::wait(2000); + Thread::wait(2100); } ////////////////////
--- a/Processes/Motion/motion.cpp Tue Apr 16 12:24:25 2013 +0000 +++ b/Processes/Motion/motion.cpp Tue Apr 16 12:55:10 2013 +0000 @@ -134,7 +134,7 @@ // forward velocity controller - const float p_gain_fv = 0.85;//0.7; //TODO: tune + const float p_gain_fv = 0.95;//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/Processes/MotorControl/MotorControl.cpp Tue Apr 16 12:24:25 2013 +0000 +++ b/Processes/MotorControl/MotorControl.cpp Tue Apr 16 12:55:10 2013 +0000 @@ -26,7 +26,7 @@ float testspeed = 0.2; float Fcrit = 1.75; - float Pcrit = 10; + float Pcrit = 8; float Pgain = Pcrit*0.45; float Igain = 1.2f*Pgain*Fcrit*0.05;