From f6fc7175478fea30df922ce41a7feda80b7f5bd2 Mon Sep 17 00:00:00 2001
From: Zhaoliang <zhz03@g.ucla.edu>
Date: Fri, 15 Oct 2021 02:54:23 -0700
Subject: [PATCH] test other variables
---
.../ESP32_slave/ESP32_slave.ino | 25 ++++++++++++++++---
1 file changed, 22 insertions(+), 3 deletions(-)
diff --git a/Code/ESP32_communication/test_more_variables/ESP32_slave/ESP32_slave.ino b/Code/ESP32_communication/test_more_variables/ESP32_slave/ESP32_slave.ino
index 8988213..a8fb476 100644
--- a/Code/ESP32_communication/test_more_variables/ESP32_slave/ESP32_slave.ino
+++ b/Code/ESP32_communication/test_more_variables/ESP32_slave/ESP32_slave.ino
@@ -14,7 +14,9 @@ int g1 = 0,g2=1,g3=2;
int goal_id[3] = {g1, g2, g3};
int Lmin = 30,Lmax = 100, Amin = -49,Amax = -22,Bmin = 31,Bmax = 127;
int threshold[6] = {Lmin, Lmax, Amin, Amax, Bmin, Bmax};
-
+int base_speed = 70;
+int seeking_speed = 70;
+int lidar_thres = 300; // mm
//-------------------------------------------------------------------------------------
typedef struct RxStruct
{
@@ -47,19 +49,21 @@ void setup()
}
//======================================================================================
void loop()
-{
+{ //-------------------PID-----------------
Kpx = getDoubleVal(strData,"kpx",valData,Kpx);
Kix = getDoubleVal(strData,"kix",valData,Kix);
Kdx = getDoubleVal(strData,"kdx",valData,Kdx);
Kpy = getDoubleVal(strData,"kpy",valData,Kpy);
Kiy = getDoubleVal(strData,"kiy",valData,Kiy);
Kdy = getDoubleVal(strData,"kdy",valData,Kdy);
+ //-------------------Goal id-----------------
g1 = getIntVal(strData,"gda",valData,goal_id[0]);
g2 = getIntVal(strData,"gdb",valData,goal_id[1]);
g3 = getIntVal(strData,"gdc",valData,goal_id[2]);
goal_id[0] = g1;
goal_id[1] = g2;
goal_id[2] = g3;
+ //-------------------Color threshold-----------------
Lmin = getIntVal(strData,"tha",valData,threshold[0]);
Lmax = getIntVal(strData,"thb",valData,threshold[1]);
Amin = getIntVal(strData,"thc",valData,threshold[2]);
@@ -72,7 +76,21 @@ void loop()
threshold[3] = Amax;
threshold[4] = Bmin;
threshold[5] = Bmax;
-
+ //-------base_speed,seeking_speed,lidar_thres-----------------
+ base_speed = abs(getIntVal(strData,"bsp",valData,base_speed));
+ seeking_speed = abs(getIntVal(strData,"ssp",valData,seeking_speed));
+ lidar_thres = abs(getIntVal(strData,"lth",valData,lidar_thres));
+
+ Serial.print("base speed:");
+ Serial.print(base_speed);
+ Serial.print("|");
+ Serial.print("seeking speed:");
+ Serial.print(seeking_speed);
+ Serial.print("|");
+ Serial.print("lidar thres:");
+ Serial.println(lidar_thres);
+
+ /*
Serial.print("threshold:");
Serial.print(threshold[0]);
Serial.print("|");
@@ -85,6 +103,7 @@ void loop()
Serial.print(threshold[4]);
Serial.print("|");
Serial.println(threshold[5]);
+ */
/*
Serial.print("gid:");
Serial.print(goal_id[0]);
--
GitLab