adipu/guadaloop_lev_control
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This commit is contained in:
Aditya Pulipaka
2025-11-22 13:29:00 -06:00
parent f1fea28d73
commit 71092ec86f
9 changed files with 61 additions and 69 deletions
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10
PseudoSensorControl/PseudoSensorControl.ino
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@@ -2,10 +2,10 @@
#include "IndSensorMap.hpp"
#include "PseudoSensorControl.hpp"
float refs[4] = {14,14,14,14};
float refs[4] = {12.9,12.3,12.6,12};
Constants repelling = {10000, 0, 50000};
Constants attracting = {10000, 0, 50000};
Constants repelling = {250, 0, 20000};
Constants attracting = {250, 0, 20000};
K_MAP consts = {repelling, attracting};
@@ -34,7 +34,7 @@ const int dt_micros = 1e6/sampling_rate;
int ON = 0;
void setup() {
Serial.begin(57600);
Serial.begin(115200);
indL.alpha = alphaVal;
indR.alpha = alphaVal;
@@ -54,7 +54,7 @@ void loop() {
char c = Serial.read();
while(Serial.available()) Serial.read(); // flush remaining
controller.outputOn = (c != '0');
controller.outputOn = (c != '0' && c != 'r'); // planning to add r command to set refernce or smth
}
tDiffMicros = micros() - tprior;