[Krobot-commits] [SCM] krobot branch, master, updated. 0d64d8bd6f803f1d1dbc09eb224b352aeb6301b8

[Xavier L. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 0d64d8bd6f803f1d1dbc09eb224b352aeb6301b8
Author: Xavier Lagorce <Xav...@cr...>
Date:   Fri Mar 18 18:27:02 2011 +0100

    [Controller_Motor_STM32] Better demonstration code
    
    State space command and state estimator seem to work !

-----------------------------------------------------------------------

Changes:
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/main.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/main.c
index 370f723..bd62ea4 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/main.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/main.c
@@ -40,8 +40,8 @@ static void init(void)
         // Start control of drive motors
         float k[] = {-68.0325, -1.0205};
         float l0[] = {0.0236, 3.9715};
-        mc_new_controller(MOTOR3, ENCODER3, 360.0/2000.0/15.0, 0.833, 0.015, 0.005, k, -k[0], l0);
-        mc_new_controller(MOTOR4, ENCODER4, 360.0/2000.0/15.0, 0.833, 0.015, 0.005, k, -k[0], l0);
+        mc_new_controller(MOTOR3, ENCODER3, -360.0/2000.0/15.0, 0.833, 0.015, 0.005, k, -k[0], l0);
+        mc_new_controller(MOTOR4, ENCODER4, -360.0/2000.0/15.0, 0.833, 0.015, 0.005, k, -k[0], l0);
 
         // Blink to say we are ready
         for (uint8_t i=0; i < 2; i++) {
@@ -82,29 +82,24 @@ static void NORETURN square_process(void)
 
 static void NORETURN goto_process(void)
 {
-  float inc = 100;
+  float inc = 3.6;
   float ref = 0;
-  int32_t dt=1000;
+  int32_t dt= 5;
   uint8_t ind = 0;
 
+  LED1_ON();
   // Make the wheels turn
-  while(ref < 1500)
+  while(ref < 7200)
   {
     mc_gotoPosition(MOTOR3, ref);
     mc_gotoPosition(MOTOR4, ref);
-    //position += speed * ((float)dt)/1000.0;
     ref = ref + inc;
     timer_delay(dt);
-    if(ind) {
-      LED1_ON();
-      ind = 0;
-    } else {
-      LED1_OFF();
-      ind = 1;
-    }
   }
+  timer_delay(1000);
   mc_delete_controller(MOTOR3);
   mc_delete_controller(MOTOR4);
+  LED1_OFF();
 }
 
 
@@ -115,10 +110,6 @@ int main(void)
 	/* Create a new child process */
         proc_new(goto_process, NULL, KERN_MINSTACKSIZE * 8, NULL);
 
-        //timer_delay(4000);
-        //mc_delete_controller(MOTOR3);
-        //mc_delete_controller(MOTOR4);
-
 	/*
 	 * The main process is kept to periodically report the stack
 	 * utilization of all the processes (1 probe per second).


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