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4p78-final-project
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ParkerTenBroeck 2025-04-09 17:58:24 -04:00
parent 5c7ed130b3
commit 002118e969
3 changed files with 12 additions and 7 deletions
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7
robot/distance.h
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@ -1,5 +1,6 @@
#include "Adafruit_VL53L0X.h" #include "Adafruit_VL53L0X.h"
Adafruit_VL53L0X lox = Adafruit_VL53L0X(); Adafruit_VL53L0X lox = Adafruit_VL53L0X();
float distanceReading = 0;
void initDistance(){ void initDistance(){
@ -13,7 +14,9 @@ void initDistance(){
void updateDistance(){ void updateDistance(){
if (lox.isRangeComplete()) { if (lox.isRangeComplete()) {
Serial.print("Distance in mm: "); distanceReading = (float)lox.readRange();
Serial.println(lox.readRange()); // if(distanceReading>2000){
// distanceReading = (float)NAN;
// }
} }
} }

6
robot/pid.h
View File

@ -11,13 +11,13 @@ double turnKp=1, turnKi=5.0, turnKd=0.17;
double angleInput, angleOutput, angleSetpoint; double angleInput, angleOutput, angleSetpoint;
PID anglePID(&angleInput, &angleOutput, &angleSetpoint, angKp, angKi, angKd, AUTOMATIC); PID anglePID(&angleInput, &angleOutput, &angleSetpoint, angKp, angKi, angKd, P_ON_M, REVERSE);
double posInput, posOutput, posSetpoint; double posInput, posOutput, posSetpoint;
PID posPID(&posInput, &posOutput, &posSetpoint, posKp, posKi, posKd, AUTOMATIC); PID posPID(&posInput, &posOutput, &posSetpoint, posKp, posKi, posKd, P_ON_E, DIRECT);
double turnInput, turnOutput, turnSetpoint; double turnInput, turnOutput, turnSetpoint;
PID turnPID(&turnInput, &turnOutput, &turnSetpoint, turnKp, turnKi, turnKd, AUTOMATIC); PID turnPID(&turnInput, &turnOutput, &turnSetpoint, turnKp, turnKi, turnKd, P_ON_E, REVERSE);
PID* pids[] = {&anglePID, &posPID, &turnPID}; PID* pids[] = {&anglePID, &posPID, &turnPID};

6
robot/webserver.h
View File

@ -78,7 +78,8 @@ void initServer(){
char buff[1024]; char buff[1024];
int ret = snprintf(buff, sizeof(buff), int ret = snprintf(buff, sizeof(buff),
R"({ R"({
"motorTargetAngle": %d, "motorTargetAngle": %f,
"distanceReading": %f,
"position": %f, "position": %f,
"anglePID": {"setpoint": %lf, "input": %lf, "output": %lf}, "anglePID": {"setpoint": %lf, "input": %lf, "output": %lf},
"posPID": {"setpoint": %lf, "input": %lf, "output": %lf}, "posPID": {"setpoint": %lf, "input": %lf, "output": %lf},
@ -92,7 +93,8 @@ void initServer(){
"aaReal": {"x": %hd, "y": %hd, "z": %hd}, "aaReal": {"x": %hd, "y": %hd, "z": %hd},
"aaWorld": {"x": %hd, "y": %hd, "z": %hd} "aaWorld": {"x": %hd, "y": %hd, "z": %hd}
})", })",
dbgState.motorTargetAngle, (float)dbgState.motorTargetAngle,
(float)distanceReading,
encoder.position(), encoder.position(),
angleSetpoint, angleInput, angleOutput, angleSetpoint, angleInput, angleOutput,
posSetpoint, posInput, posOutput, posSetpoint, posInput, posOutput,