WC first day

project-neon · Jul 6, 2018 · 56cf23c · 56cf23c
1 parent 6f34a26
commit 56cf23c
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Showing 4 changed files with 11 additions and 9 deletions.
diff --git a/Firmware/Sloth/src/_config.h b/Firmware/Sloth/src/_config.h
@@ -48,7 +48,7 @@
 // General Settings
 //
 #define STOP_BY_TIME false
-#define LAP_TIME 20 //in seconds
+#define LAP_TIME 5 //in seconds
 #define STOP_BY_DISTANCE true
 #define FINAL_TARGET_POSITION   24.0  // in meters
 // #define FINAL_TARGET_POSITION   1.5

diff --git a/Firmware/Sloth/src/main.cpp b/Firmware/Sloth/src/main.cpp
@@ -405,8 +405,8 @@ int main() {
 
 
      // Certifies correct operation of encoders
-     // LOG.printf("Left Encoder: %i \t", LeftEncoder.getPulses());
-     // LOG.printf("Right Encoder: %i \t", RightEncoder.getPulses());
+     LOG.printf("Left Encoder: %i \t", LeftEncoder.getPulses());
+     LOG.printf("Right Encoder: %i \t", RightEncoder.getPulses());
      // LOG.printf("%.4f\t", leftDistance);
      // LOG.printf("%.4f\t", rightDistance);
 
@@ -422,7 +422,7 @@ int main() {
 
       // LOG.printf("%.4f,", currentPosition);
       // LOG.printf("%.4f", DIF(leftDistance, rightDistance));
-
+/*
       // Checkpoint sensors mapping
       // Crossroad
       if (checkpoint_left_counter != last_checkpoint_left_counter && checkpoint_right_counter != last_checkpoint_right_counter) {
@@ -448,7 +448,7 @@ int main() {
       // Encoders positions
       LOG.printf("%.2f,", leftDistance);
       LOG.printf("%.2f", rightDistance);
-
+*/
 
       // LOG.printf("%i", checkpoint_right_counter);
       //Test of Mapping

diff --git a/Firmware/Sloth/src/settingsSpeed.h b/Firmware/Sloth/src/settingsSpeed.h
@@ -34,10 +34,12 @@ Setup k3[] { // SlowCurve,Curve, FastCurve, Straight, Stop
   // MOTORS 30:1  120mm x 75mm
   {0.30, 0.00030, 0.000000, 0.0000030},
   // {0.70, 0.00020, 0.000000, 0.0000060},
-  {0.85, 0.00022, 0.000000, 0.000015},
-  {1.00, 0.00022, 0.000000, 0.000025},
+  // {0.85, 0.00022, 0.000000, 0.000015},
+  {0.50, 0.00040, 0.000000, 0.0000060},
+  {0.85, 0.00022, 0.000000, 0.000025},
+  // {1.00, 0.00022, 0.000000, 0.000025},
   // {0.85, 0.00014, 0.000000, 0.0000150},
-  {1.00, 0.00030, 0.000000, 0.0000060},
+  {1.00, 0.00022, 0.000000, 0.000025},
   {0.10, 0.00010, 0.000000, 0.0000010}
 };
 

diff --git a/Firmware/Sloth/src/tracks.h b/Firmware/Sloth/src/tracks.h
@@ -148,7 +148,7 @@ Mark WC14_2018[] = {
 // {04.14 - 00.00, -10, GAIN_NUMBER[Curve]},      //07
 // {04.31 - 00.15, +1.5, GAIN_NUMBER[Straight]},   //08
 {04.66 - 00.00, -10, GAIN_NUMBER[Curve]},      //09
-{05.20 - 00.20, +1.5, GAIN_NUMBER[Straight]},   //10
+{05.20 - 00.30, +1.5, GAIN_NUMBER[Straight]},   //10
 {05.45 - 00.00, -10, GAIN_NUMBER[Curve]},      //11
 {05.97 - 00.15, +1.5, GAIN_NUMBER[Straight]},   //12
 {06.23 - 00.00, -10, GAIN_NUMBER[Curve]},      //13