G_MODULE_EXPORT
void adj_ydiv_cb(GtkAdjustment *adj, gpointer data)
{
cfg.ydiv = gtk_adjustment_get_value(adj);
update_axis();
gtk_widget_queue_draw(canvas);
}
int main(int argc,char **argv) {
int i; //iterator
pid *x,*y,*z; //structs representing 3 pid controllers
imu_t *imu;
fd_set net_set;
double oldmag,magdiff;
struct timeval timeout;
int axes[4]={0,0,0,0};
int x_adjust,y_adjust,z_adjust;
int sock = init_net();
register_int();
x=init_pid(3500,000,000);
y=init_pid(3400,000,1000);
z=init_pid(000,000,000);
timeout.tv_sec=0;
timeout.tv_usec=REFRESH_TIME;
for(i=0;i<4;i++) { //initialize PWM modules
motors[i]=init_pwm(i);
}
imu = init_imu();
update_imu(imu);
oldmag=imu->mpu.fusedEuler[VEC3_Z] * RAD_TO_DEGREE;
while(1) {
////printf("loop\n");
FD_ZERO(&net_set);
FD_SET(sock,&net_set);
if(select(sock+1,&net_set,(fd_set *) 0,(fd_set *) 0, &timeout)==1) {
////printf("reading from the socket\n");
//read from sock
if(!update_axis(sock,axes)) {
break;
}
} else {
////printf("reading from the imu\n");
//update imu
update_imu(imu);
timeout.tv_sec=0;
timeout.tv_usec=REFRESH_TIME;
magdiff=imu->mpu.fusedEuler[VEC3_Z] * RAD_TO_DEGREE-oldmag;
if(magdiff>300) {
magdiff-=360;
}
if(magdiff<-300) {
magdiff+=360;
}
x_adjust = update_pid(x,0/*axes[1]*.00061*/,imu->mpu.fusedEuler[VEC3_X] * RAD_TO_DEGREE);
y_adjust = update_pid(y,0/*axes[2]*.00061*/,imu->mpu.fusedEuler[VEC3_Y] * RAD_TO_DEGREE);
//printf("X axis value: %lf\n",imu->mpu.fusedEuler[VEC3_X]*RAD_TO_DEGREE);
//printf("Y axis value: %lf\n",imu->mpu.fusedEuler[VEC3_Y]*RAD_TO_DEGREE);
z_adjust = update_pid(z,axes[3]*.00061,magdiff);
oldmag=imu->mpu.fusedEuler[VEC3_Z] * RAD_TO_DEGREE;
set_duty(motors[0],900000+axes[0]*16-z_adjust-y_adjust+x_adjust);
set_duty(motors[1],900000+axes[0]*16+z_adjust-y_adjust-x_adjust);
set_duty(motors[2],900000+axes[0]*16-z_adjust+y_adjust-x_adjust);
set_duty(motors[3],900000+axes[0]*16+z_adjust+y_adjust+x_adjust);
}
}
exit_fxn(0);
}
