Jimmy Li jimmyli97
jimmyli97
/ EncoderCheck.c
Last active
August 29, 2015 14:15
— forked from TheAlchenmist/EncoderCheck.c
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| #define ENC_ERROR_THRESHOLD 3000 | |
| int checkEnc = nMotorEncoder[curMotor]; | |
| int knownGoodEnc = motorStates[curMotor].lastRealEncoderPos; | |
| int curEnc; | |
| if (abs(checkEnc - knownGoodEnc) > ENC_ERROR_THRESHOLD) { | |
| //do nothing because enc val is bad | |
| } else { | |
| curEnc = checkEnc; //enc val is good | |
| motorStates[curMotor].lastRealEncoderPos = curEnc; |
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| #define LIFT_UP_POW -100 | |
| #define ENC_SIGN sgn(LIFT_UP_POW) | |
| #define LIFT_MAX ENC_SIGN * 9800 //high goal | |
| #define NINETY_GOAL ENC_SIGN * 7400 | |
| #define SIXTY_GOAL ENC_SIGN * 4600 | |
| #define THIRTY_GOAL ENC_SIGN * 2000 | |
| #define LIFT_MIN 0 | |
| void joyLift(DesiredMotorVals *desiredMotorVals, DesiredEncVals *desiredEncVals, TJoystick *joyState){ |
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| //Struct definition for holding states of motors | |
| typedef struct MotorState { | |
| long encoder; | |
| long lastRealEncoderPos; | |
| } MotorState; | |
| //Array for storing MotorState for each motor | |
| static MotorState motorStates[MAX_NUM_MOTORS]; | |
| //Called once per main loop to update MotorState |
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| #define MAX_HARVESTMOVE_TIME_POS 800 | |
| typedef struct MotorState { | |
| ... //encoder data | |
| long timePosMs; //stores position in "time" (50 means net movement forward for 50 ms) | |
| long lastUpdateTimeMs; //last time this motorstate as updated | |
| } MotorState; | |
| void motorUpdateState() { | |
| for (int i=0; i<NUM_MOTORS; i++) { |
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| <mws:expr url="math.3.0"> | |
| <math xmlns="http://www.w3.org/1998/Math/MathML" id="p1.1.m1" class="ltx_Math" alttext="{\displaystyle a}" display="inline" xml:id="p1.1.m1.1" xref="p1.1.m1.1.cmml"> | |
| <semantics xml:id="p1.1.m1.1a" xref="p1.1.m1.1.cmml"> | |
| <mi xml:id="p1.1.m1.1.1" xref="p1.1.m1.1.1.cmml">a</mi> | |
| <annotation-xml encoding="MathML-Content" xml:id="p1.1.m1.1.cmml" xref="p1.1.m1.1"> | |
| <ci xml:id="p1.1.m1.1.1.cmml" xref="p1.1.m1.1.1">a</ci> | |
| </annotation-xml> | |
| <annotation encoding="application/x-tex" xml:id="p1.1.m1.1b" xref="p1.1.m1.1.cmml">{\displaystyle a}</annotation> | |
| </semantics> | |
| </math> |
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