From 83308e2d2ca23d3c3aa12bb7918f278f5250c2f3 Mon Sep 17 00:00:00 2001
From: RicardoEA <ricardo.ercoli@fing.edu.uy>
Date: Wed, 8 Mar 2023 19:48:23 -0300
Subject: [PATCH] Tics/vuelta experiment
---
Robotito/include/control.h | 1 +
Robotito/src/control/control.c | 11 +++--------
Robotito/src/main.c | 1 -
3 files changed, 4 insertions(+), 9 deletions(-)
diff --git a/Robotito/include/control.h b/Robotito/include/control.h
index 1168f0c..364cf6e 100644
--- a/Robotito/include/control.h
+++ b/Robotito/include/control.h
@@ -65,6 +65,7 @@ typedef struct {
int32_t vel_counter;
int32_t odom_counter;
+ int32_t counter;
float target_v;
float accum_error;
diff --git a/Robotito/src/control/control.c b/Robotito/src/control/control.c
index 46891b7..2d1db29 100644
--- a/Robotito/src/control/control.c
+++ b/Robotito/src/control/control.c
@@ -8,6 +8,8 @@
static void callback_enc_func(int i_callback, int8_t dir, uint32_t counter) {
motors[i_callback].vel_counter+=dir;
motors[i_callback].odom_counter+=dir;
+ motors[i_callback].counter+=dir;
+ printf("Motor %d tics: %d\n", i_callback, motors[i_callback].counter);
}
static void getW(sF3dVector_t* v, float phi){
@@ -55,7 +57,6 @@ static void callback_motors_pid(){
float current_v = m->vel_counter / OMNI_PID_CTRL_TIMER; // compute curren motor vel in counts/s
m->vel_counter = 0; // reset counter
- printf("motor %i, target_v: %f, current_v: %f\n", i, m->target_v, current_v);
float error = m->target_v - current_v; // compute error
@@ -83,13 +84,7 @@ static void callback_motors_pid(){
// set motors speeds
- for (int i=0; i<NMOTORS; i++) {
- //if (i==1)
- //{
- // printf("Velocidad del motor %d es %.15f \n", i,motors[i].output );
- //}
- motor_set_speed(motors[i].driver, motors[i].output);
- }
+
}
static void callback_odometry(){
diff --git a/Robotito/src/main.c b/Robotito/src/main.c
index ab74e75..98e0558 100644
--- a/Robotito/src/main.c
+++ b/Robotito/src/main.c
@@ -29,7 +29,6 @@ void app_main(void)
omni_init();
omni_set_enable(true);
while (1) {
- omni_drive(0,0,PI/4,0);
vTaskDelay( 300000/ portTICK_RATE_MS);
}
}
\ No newline at end of file
--
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