aaron/discoverpixy
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id101010
2015-06-07 13:41:07 +02:00
parent 802d3df373
commit 3d98ca93bc
2 changed files with 12 additions and 12 deletions
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20
common/app/pixy_control.c
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@@ -28,10 +28,10 @@ void int_init(void){
// PID controller implementatoin for the y-axis // PID controller implementatoin for the y-axis
int16_t pixy_PID_Y(int16_t x, int16_t w) int16_t pixy_PID_Y(int16_t x, int16_t w)
{ {
float e; float e = 0;
static float esum; static float esum = 0;
static float eold; static float eold = 0;
float y; float y = 0;
e = (float)(x - w); // calculate the controller offset e = (float)(x - w); // calculate the controller offset
@@ -45,16 +45,16 @@ int16_t pixy_PID_Y(int16_t x, int16_t w)
eold = e; // save the previous value eold = e; // save the previous value
return (int16_t) y; return (int16_t)y;
} }
// PID controller implementation for the x-axis // PID controller implementation for the x-axis
int16_t pixy_PID_X(int16_t x, int16_t w) int16_t pixy_PID_X(int16_t x, int16_t w)
{ {
float e; float e = 0;
static float esum; static float esum = 0;
static float eold; static float eold = 0;
float y; float y = 0;
e = (float)(x - w); // calculate the controller offset e = (float)(x - w); // calculate the controller offset
@@ -68,5 +68,5 @@ int16_t pixy_PID_X(int16_t x, int16_t w)
eold = e; // save the previous value eold = e; // save the previous value
return (int16_t) y; return (int16_t)y;
} }

4
common/app/screen_tracking.c
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@@ -91,8 +91,8 @@ void tracking_our_start(void* tracking_config) {
int return_value; int return_value;
servo_x = servo_y = 500; // set a default value of 500 servo_x = servo_y = 500; // set a default value of 500
pixy_rcs_set_position(0, servo_x); // pixy_rcs_set_position(0, servo_x); // set default
pixy_rcs_set_position(1, servo_y); // pixy_rcs_set_position(1, servo_y); // set default
return_value = pixy_command("runprog", INT8(0), END_OUT_ARGS, &response, END_IN_ARGS); return_value = pixy_command("runprog", INT8(0), END_OUT_ARGS, &response, END_IN_ARGS);
} }