From d9f568472951ecce4ba8babada50121d9533e395 Mon Sep 17 00:00:00 2001
From: Pascal Koch <pascal.koch@stud.h-da.de>
Date: Wed, 18 Dec 2024 14:07:23 +0100
Subject: [PATCH] AUTOOOO!!!
---
.vscode/launch.json | 2 +-
src/main.c | 18 ++++++++++++------
2 files changed, 13 insertions(+), 7 deletions(-)
diff --git a/.vscode/launch.json b/.vscode/launch.json
index b1891bdc..6ff7a775 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -9,7 +9,7 @@
"cwd": "${workspaceFolder}",
"MIMode": "gdb",
"miDebuggerPath": "gdb-multiarch",
- "miDebuggerServerAddress": "localhost:3333",
+ "miDebuggerServerAddress": "10.42.0.1:3333",
"preLaunchTask": "build",
"internalConsoleOptions": "neverOpen",
"postRemoteConnectCommands": [
diff --git a/src/main.c b/src/main.c
index a20d00be..0e6c2cd9 100644
--- a/src/main.c
+++ b/src/main.c
@@ -3,6 +3,7 @@
#include <stdio.h>
#include <unistd.h>
#include <hardware/pwm.h>
+#include <math.h>
double rollingperc[4] = {0, 0, 0, 0};
int pos = 0;
@@ -155,14 +156,14 @@ void callback(uint gpio, uint32_t events)
{
distance = 0;
}
- if (distance > 20)
+ if (distance > 40)
{
- distance = 20;
+ distance = 40;
}
- distance = 20 - distance;
+ distance = 40 - distance;
- volatile int percentage = (distance / 10) * 100;
+ volatile int percentage = (distance / 20) * 100;
rollingperc[pos] = percentage;
pos++;
@@ -173,8 +174,13 @@ 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)) + 2000;
- speed = speed + ((1.8 * avg) - 180);
+
+ double speed = 0.9 * ((avg - 100) * (avg - 100)) + 1500; // 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)
{
--
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