devoalda
/
INF2004_Project
mirror of https://github.com/L4ncelot-R/freeRTOS-car.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

remove debug prints

This commit is contained in:
Richie 2023-11-09 12:58:10 +08:00
parent e9511eb8ce
commit 107a142ef6
1 changed files with 0 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
frtos/motor/motor_pid.h
View File

@ -24,8 +24,6 @@ compute_pid(float *integral, float *prev_error, car_struct_t *car_struct)
float error = car_struct->p_left_motor->speed.distance_cm float error = car_struct->p_left_motor->speed.distance_cm
- car_struct->p_right_motor->speed.distance_cm; - car_struct->p_right_motor->speed.distance_cm;
printf("%f\n", error);
*integral += error; *integral += error;
float derivative = error - *prev_error; float derivative = error - *prev_error;
@ -55,8 +53,6 @@ repeating_pid_handler(struct repeating_timer *t)
float control_signal = compute_pid(&integral, &prev_error, car_strut); float control_signal = compute_pid(&integral, &prev_error, car_strut);
printf("control: %f\n", control_signal);
float temp float temp
= (float)car_strut->p_right_motor->pwm.level + control_signal * 0.05f; = (float)car_strut->p_right_motor->pwm.level + control_signal * 0.05f;
@ -70,13 +66,8 @@ repeating_pid_handler(struct repeating_timer *t)
temp = MIN_PWM_LEVEL + 1u; temp = MIN_PWM_LEVEL + 1u;
} }
printf("temp: %f\n", temp);
set_wheel_speed((uint32_t)temp, car_strut->p_right_motor); set_wheel_speed((uint32_t)temp, car_strut->p_right_motor);
printf("speed: %f cm/s\n", car_strut->p_right_motor->speed.current_cms);
printf("distance: %f cm\n", car_strut->p_right_motor->speed.distance_cm);
return true; return true;
} }