int
main(
int argc,
char *argv[]
)
{
FILE *fp;
int i;
progname = argv[0];
pout = popen(OUTFILT, "w");
if (argc > 1)
for (i = 1; i < argc; i++) {
fp = efopen(argv[i], "r");
plot4(fp);
fclose(fp);
}
else
plot4(stdin);
pglob(PEOF, 0200, NULL);
return(pclose(pout));
}
void scopePlot::add4(double *data, unsigned long len,QString curveName)
{
c4.resize(len);
for (unsigned long i = 0; i < len; i++)
{
c4[i]=data[i];
}
plot4(curveName);
}
void Bucle_Principal() {
int salida=0;
int angulo = 0;
int who_a_I_tmp = 0;
//------------------------------------------------------------------------------------------//
double accXangle = (atan2(get_ax(), -get_ay()) * RAD_TO_DEG );
double gyroXrate = (double) (get_gz() ) / 131.0;
if (tipoFiltro==1){
angulo = (signed int) Complementary2(accXangle, gyroXrate,Tsample)-90;
}
else {
angulo = (signed int) kalman(accXangle, gyroXrate,Tsample)-90;
}
if (act_motor==1){
salida = pid(setpoint, angulo,5, KP, KI, KD, 5000, -5000, 10000, -10000);
SetPwm1(BIAS1 - salida);
SetPwm2(BIAS2 + salida);
who_a_I_tmp = get_who_I_AM();
if(who_a_I_tmp != 104)
{
Init_I2C();
reset();
}
enviar_valor_NOCR("ax= ",get_ax());
enviar_valor_NOCR(" ay = ",get_ay());
enviar_valor_NOCR(" gz= ",get_gz());
enviar_valor(" who = ",get_who_I_AM());
}
else {
SetPwm1(0);
SetPwm2(0);
ErrorI=0;
}
plot4(accXangle-90,angulo,salida/10,setpoint);
LED_ROJO=!LED_ROJO;
}
int
main(int argc, char *argv[])
{
int i, digmax;
int xleng0 = 400, yleng0 = 300, xoff0 = 200, yoff0 = 200;
int xleng1 = 400, yleng1 = 300, xoff1 = 500, yoff1 = 500;
/* Select either TK or DP driver and use a small window */
/* Using DP results in a crash at the end due to some odd cleanup problems */
/* The geometry strings MUST be in writable memory */
char geometry_master[] = "500x410+100+200";
char geometry_slave[] = "500x410+650+200";
char driver[80];
/* plplot initialization */
/* Parse and process command line arguments */
(void) plparseopts(&argc, argv, PL_PARSE_FULL);
plgdev(driver);
printf("Demo of multiple output streams via the %s driver.\n", driver);
printf("Running with the second stream as slave to the first.\n");
printf("\n");
/* Set up first stream */
plsetopt("geometry", geometry_master);
plsdev(driver);
plssub(2, 2);
plinit();
/* Start next stream */
plsstrm(1);
/* Turn off pause to make this a slave (must follow master) */
plsetopt("geometry", geometry_slave);
plspause(0);
plsdev(driver);
plinit();
/* Set up the data & plot */
/* Original case */
plsstrm(0);
xscale = 6.;
yscale = 1.;
xoff = 0.;
yoff = 0.;
plot1();
/* Set up the data & plot */
xscale = 1.;
yscale = 1.e+6;
plot1();
/* Set up the data & plot */
xscale = 1.;
yscale = 1.e-6;
digmax = 2;
plsyax(digmax, 0);
plot1();
/* Set up the data & plot */
xscale = 1.;
yscale = 0.0014;
yoff = 0.0185;
digmax = 5;
plsyax(digmax, 0);
plot1();
/* To slave */
/* The pleop() ensures the eop indicator gets lit. */
plsstrm(1);
plot4();
pleop();
/* Back to master */
plsstrm(0);
plot2();
plot3();
/* To slave */
plsstrm(1);
plot5();
pleop();
/* Back to master to wait for user to advance */
plsstrm(0);
pleop();
/* Call plend to finish off. */
plend();
exit(0);
}
