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raw | patch | inline | side by side (parent: cb20e64)
raw | patch | inline | side by side (parent: cb20e64)
author | dave russo <d-russo@ti.com> | |
Tue, 13 Oct 2015 18:27:26 +0000 (11:27 -0700) | ||
committer | dave russo <d-russo@ti.com> | |
Tue, 13 Oct 2015 18:27:26 +0000 (11:27 -0700) |
diff --git a/src/Energia/libraries/ZumoCC3200/examples/AssistedDrive/MotorControlLoop.ino b/src/Energia/libraries/ZumoCC3200/examples/AssistedDrive/MotorControlLoop.ino
index f74c02e50d0adc556424a937681fe8eb26173baa..5ed7e44fc39cd24f343a0aef64dc1f25456c6a2b 100644 (file)
float power;
if (!targetAngleSet) {
- Utilities::reInitErrorVals();
float currHeading = IMUManager::getGyroYaw();
targetAngle = Utilities::wrapAngle(currHeading + angle);
targetAngleSet = true;
diff --git a/src/Energia/libraries/ZumoCC3200/utility/DriveLineCommand.cpp b/src/Energia/libraries/ZumoCC3200/utility/DriveLineCommand.cpp
index 0b665bda02d84eb604d0dd473a95156261beee8b..d7714065d8c3060f2168c9e186d506832b4cb4ef 100644 (file)
initTime = millis();
initialized = true;
timedOut = false;
- Utilities::reInitErrorVals();
}
void DriveLineCommand::end()
diff --git a/src/Energia/libraries/ZumoCC3200/utility/TurnAngleCommand.cpp b/src/Energia/libraries/ZumoCC3200/utility/TurnAngleCommand.cpp
index 604b550315a332bdd7c4d3e76f50a8d8e11447b8..306ad1ab86527fed834ebfd950d6afa2dd8e40fe 100644 (file)
void TurnAngleCommand::initialize()
{
- Utilities::reInitErrorVals();
initTime = millis();
initialized = true;
timedOut = false;
diff --git a/src/Energia/libraries/ZumoCC3200/utility/Utilities.cpp b/src/Energia/libraries/ZumoCC3200/utility/Utilities.cpp
index e839701094d98ea484ddef97cc95853f5049652c..077287045b8ce167b53be431c44ae40231f2aa05 100644 (file)
#define NUM_ERRORVALS 10
-static float errorVals[NUM_ERRORVALS] = {0};
-
Utilities::Utilities()
{
- reInitErrorVals();
}
float Utilities::wrapAngle(float angle)
bool Utilities::inRange(float value, float lowerBound, float upperBound)
{
-#if 0
- float sum = 0;
- for (int i = NUM_ERRORVALS - 1; i > 0; i--) {
- errorVals[i] = errorVals[i - 1];
- sum += errorVals[i];
- }
- sum += value;
- errorVals[0] = value;
- float avg = sum / NUM_ERRORVALS;
- bool settled = (avg > lowerBound) && (avg < upperBound);
- return (settled);
-#else
return ((value > lowerBound) && (value < upperBound));
-#endif
}
int Utilities::clip(int a)
return a;
}
-void Utilities::reInitErrorVals()
-{
- for (int i = 0; i < (sizeof(errorVals) / sizeof(float)); i++) {
- errorVals[i] = 0;
- }
-}
-
int Utilities::min(int a, int b)
{
if (a < b) {
diff --git a/src/Energia/libraries/ZumoCC3200/utility/Utilities.h b/src/Energia/libraries/ZumoCC3200/utility/Utilities.h
index 0196aa83930798f9456e831bc41a30c9484da3d2..6073963dcbb7cbbf9dc52b8eac409911967e464b 100644 (file)
static bool inRange(float value, float lowerBound, float upperBound);
static int clip(int input);
static float clip(float input);
- static void reInitErrorVals();
static int min(int a, int b);
static int max(int a, int b);
static float toDegrees(float angle);