From 8a62b92a15441936bf4b5cf0f5690723e5600389 Mon Sep 17 00:00:00 2001
From: James Immanuel Magsino <stjamagsi@mi-2023-9.fbi.h-da.de>
Date: Fri, 10 Jan 2025 11:15:47 +0100
Subject: [PATCH] testing
---
.vscode/settings.json | 3 ++-
src/main.c | 16 ++++++++--------
2 files changed, 10 insertions(+), 9 deletions(-)
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 2c8b73a0..ca576085 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -35,5 +35,6 @@
"*.cpp": "cpp",
"*.h": "c",
"*.c": "c"
- }
+ },
+ "task.allowAutomaticTasks": "on"
}
\ No newline at end of file
diff --git a/src/main.c b/src/main.c
index 0e6c2cd9..c8b52dca 100644
--- a/src/main.c
+++ b/src/main.c
@@ -156,14 +156,14 @@ void callback(uint gpio, uint32_t events)
{
distance = 0;
}
- if (distance > 40)
+ if (distance > 20)
{
- distance = 40;
+ distance = 20;
}
- distance = 40 - distance;
+ distance = 20 - distance;
- volatile int percentage = (distance / 20) * 100;
+ volatile int percentage = (distance / 10) * 100;
rollingperc[pos] = percentage;
pos++;
@@ -175,23 +175,23 @@ void callback(uint gpio, uint32_t events)
int avg = (rollingperc[0] + rollingperc[1] + rollingperc[2] + rollingperc[3]) / 4;
// if zwischen 90, 110, stop
- double speed = 0.9 * ((avg - 100) * (avg - 100)) + 1500; // quadratisch
+ double speed = 0.5 * ((avg - 100) * (avg - 100)) + 1000; // quadratisch
speed = speed + 10 * ((1.8 * avg) - 180);
// double speed = abs(70 * avg) + 2000; // linear
// speed += 70;
set_speed(speed);
- if (avg > 90 && avg < 110)
+ if (avg == 100)
{
gpio_put(20, 0);
gpio_put(21, 0);
}
- else if (avg < 90)
+ if (avg < 100)
{
motor_forward();
}
- else if (avg > 110)
+ else if (avg > 100)
{
motor_backward();
}
--
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