Changeset 432

Timestamp:

02/28/09 15:19:00 (3 years ago)

Author:

auchtemm

Message:

commit before cleanup

Location:

trunk/electronics/avr/2008-mcc

Files:

• pc/mcctl (modified) (previous)
• pc/mcctl.c (modified) (1 diff)
• pid.m4 (modified) (3 diffs)

trunk/electronics/avr/2008-mcc/pc/mcctl.c

@@ -177 +177 @@
         printf("#t\trpm\t\tdc\tP\tI\tD\n");
 
-        mc_setspeed(1000);
+        mc_setspeed(-1000);
         for (i = 0; i < 200; i++) {
                 usleep(1000*50);

trunk/electronics/avr/2008-mcc/pid.m4

@@ -33 +33 @@
 int16_t set_point;
 int16_t ticks;
+int16_t distance;
 uint8_t disabled;
 
@@ -117 +118 @@
 int16_t pid_get_speed()
 {
+        return ticks;
 #if PIDUPDATE == PID50HZ
         return (ticks * 50 * 60) >> 8;
@@ -190 +192 @@
 
 
-        if (PIN_LEVEL(KILL) == 1 || disabled)
+        if (PIN_LEVEL(KILL) == 0 || disabled)
                 pwm_set(0);
         else