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use speed var, set variable for safe angle for simplicity

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This commit is contained in:
Thefeli73 2021-04-13 22:09:37 +02:00
parent f12389b570
commit 3ba28c950a
1 changed files with 16 additions and 19 deletions
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33
EENX15_LQR/EENX15_LQR.ino
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@ -17,8 +17,10 @@ float angularSpeed = 0;
float motorAngularPosition = 0;
/** Motor's angular speed */
float motorAngularSpeed = 0;
/** PWM signal applied to the motor's driver 400 is 100% cicle and -400 100% but inverse direction */
/** PWM signal applied to the motor's driver 255 is 100% */
int32_t speed;
int safe_angle;
//gyro stuff
@ -92,10 +94,12 @@ void setup() {
void loop() {
gyro_loop();
safe_angle = int(round(angle_pitch_output));
if(temp_loops>100){
Serial.println("");
Serial.print(" pitch Angle = "); Serial.println(angle_pitch_output);
Serial.print(" pitch Angle abs = "); Serial.println(abs(int(round(angle_pitch_output))));
Serial.print(" pitch Angle abs = "); Serial.println(abs(safe_angle));
Serial.print(" pitch Angle measured = "); Serial.println(angle_pitch);
temp_loops = 0;
}
@ -103,10 +107,8 @@ void loop() {
temp_loops++;
}
if(angle_pitch_output!=0 && (abs(angle_pitch_output))<50 ){
digitalWrite(MotorBrakeB, LOW);
digitalWrite(MotorBrakeA, LOW);
if(angle_pitch_output<0){
if(safe_angle!=0 && safe_angle<50 ){
if(safe_angle<0){
digitalWrite(MotorPinB, CW);
digitalWrite(MotorPinA, CCW);
}
@ -114,20 +116,15 @@ void loop() {
digitalWrite(MotorPinB, CCW);
digitalWrite(MotorPinA, CW);
}
if((abs(int(angle_pitch_output))*8 + 30)<250){
analogWrite(MotorSpeedB,30 + 8*abs(int(round(angle_pitch_output)))); //Wheel close to connections
analogWrite(MotorSpeedA,30 + 8*abs(int(round(angle_pitch_output)))); //First experiment wheel
}
else{
analogWrite(MotorSpeedB,250); //Wheel close to connections
analogWrite(MotorSpeedA,250); //First experiment wheel
}
speed = 30 + 8*abs(safe_angle);
speed = constrain(speed, 0, 250);
analogWrite(MotorSpeedB, speed); //Wheel close to connections
analogWrite(MotorSpeedA, speed); //First experiment wheel
}
else{
digitalWrite(MotorBrakeB, HIGH);
digitalWrite(MotorBrakeA, HIGH);
analogWrite(MotorSpeedB,0);
analogWrite(MotorSpeedA,0);
speed = 0;
analogWrite(MotorSpeedB, speed);
analogWrite(MotorSpeedA, speed);
}
}