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Segway stabilized.

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This commit is contained in:
James Goppert
2013-07-28 22:27:05 -04:00
parent 1980d9dd63
commit dc542b2a48
11 changed files with 138 additions and 165 deletions
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src/drivers/md25/md25.cpp
+12 -5
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@@ -116,7 +116,8 @@ MD25::MD25(const char *deviceName, int bus,
setMotor2Speed(0);
resetEncoders();
_setMode(MD25::MODE_UNSIGNED_SPEED);
setSpeedRegulation(true);
setSpeedRegulation(false);
setMotorAccel(10);
setTimeout(true);
}
@@ -308,6 +309,12 @@ int MD25::setDeviceAddress(uint8_t address)
return OK;
}
int MD25::setMotorAccel(uint8_t accel)
{
return _writeUint8(REG_ACCEL_RATE_RW,
accel);
}
int MD25::setMotor1Speed(float value)
{
return _writeUint8(REG_SPEED1_RW,
@@ -461,12 +468,12 @@ int md25Test(const char *deviceName, uint8_t bus, uint8_t address)
MD25 md25("/dev/md25", bus, address);
// print status
char buf[200];
char buf[400];
md25.status(buf, sizeof(buf));
printf("%s\n", buf);
// setup for test
md25.setSpeedRegulation(true);
md25.setSpeedRegulation(false);
md25.setTimeout(true);
float dt = 0.1;
float speed = 0.2;
@@ -568,12 +575,12 @@ int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitu
MD25 md25("/dev/md25", bus, address);
// print status
char buf[200];
char buf[400];
md25.status(buf, sizeof(buf));
printf("%s\n", buf);
// setup for test
md25.setSpeedRegulation(true);
md25.setSpeedRegulation(false);
md25.setTimeout(true);
float dt = 0.01;
float t_final = 60.0;