From 596b23bc4fbddb1046fc008fe5117a5189604f7d Mon Sep 17 00:00:00 2001
From: Quirin Apfel <quirin.apfel@fau.de>
Date: Thu, 2 Aug 2018 14:32:56 +0200
Subject: [PATCH] blub
---
HalloRobot/libDIY/include/diy_gparser.h | 12 ++++++++++++
HalloRobot/libDIY/src/diy_gparser.c | 6 ++++++
HalloRobot/libProject/src/control.c | 8 ++++++--
HalloRobot/main.c | 3 ++-
4 files changed, 26 insertions(+), 3 deletions(-)
create mode 100644 HalloRobot/libDIY/include/diy_gparser.h
create mode 100644 HalloRobot/libDIY/src/diy_gparser.c
diff --git a/HalloRobot/libDIY/include/diy_gparser.h b/HalloRobot/libDIY/include/diy_gparser.h
new file mode 100644
index 0000000..128e1a2
--- /dev/null
+++ b/HalloRobot/libDIY/include/diy_gparser.h
@@ -0,0 +1,12 @@
+#ifndef DIY_GPARSER_H_INCLUDED
+#define DIY_GPARSER_H_INCLUDED
+
+
+typedef struct {
+ uint8_t code;
+ uint16_t feed_speed;
+ uint16_t x_pos;
+}g_code_t;
+
+uint8_t diy_parse_g_code(char* command_string, g_code_t* g_code);
+#endif // DIY_GPARSER_H_INCLUDED
diff --git a/HalloRobot/libDIY/src/diy_gparser.c b/HalloRobot/libDIY/src/diy_gparser.c
new file mode 100644
index 0000000..04c4e50
--- /dev/null
+++ b/HalloRobot/libDIY/src/diy_gparser.c
@@ -0,0 +1,6 @@
+#include "diy_parser.h"
+
+
+uint8_t diy_parse_g_code(char* command_string, g_code_t* g_code){
+}
+
diff --git a/HalloRobot/libProject/src/control.c b/HalloRobot/libProject/src/control.c
index 98c96eb..fd2d1af 100644
--- a/HalloRobot/libProject/src/control.c
+++ b/HalloRobot/libProject/src/control.c
@@ -68,9 +68,13 @@ float pi_control(float e)
*/
float pid_control(float e)
{
- const float K = 0.8f;
- const float T_i = 0.5f;//0.18
+ float K = 0.8f;
+ const float T_i = 0.1f;//0.18
const float T_d = 0.05;
+
+ if(e > 2 || e < -2){
+ K = 5.0;
+ }
static float e_old = 0;
diff --git a/HalloRobot/main.c b/HalloRobot/main.c
index abea84d..84c28dc 100644
--- a/HalloRobot/main.c
+++ b/HalloRobot/main.c
@@ -181,7 +181,8 @@ void control_thread(cyg_addrword_t arg)
while(1){
error = null_offset_pos - phi_cor;
motor_signal = control_func_ptr(error);
- null_of/\\\////zs_printf("%f,%f,%f\n",null_offset_pos,phi_cor,motor_signal);
+ null_offset_pos = offset_control(motor_signal);
+ ezs_printf("%f,%f,%f,%f\n",null_offset_pos,phi_cor,error,motor_signal);
motor_pwm(motor_signal);
#ifdef WCET
uint32_t current_run = ezs_watch_stop(&time_sample);
--
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