int16_t Odometry::calculatePwmTarget(uint8_t motor)
{
if(motor == MOTOR_RIGHT)
return mPid_r_.calcPwmTarget(ticksPerSecond(MOTOR_RIGHT));
else
return mPid_l_.calcPwmTarget(ticksPerSecond(MOTOR_LEFT));
}
int16_t Odometry::calculatePwmTarget(uint8_t motor, uint8_t output)
{
float avg, current;
if(motor == MOTOR_RIGHT){
current = ticksPerSecond(MOTOR_RIGHT);
mRightRing.write(current);
avg = mRightRing.readAvg();
//belongs to tabular output
if(output){
Serial.print((int) avg);
Serial.print('\t');
}
return mPid_r_.calcPwmTarget(avg);
}
else{
current = ticksPerSecond(MOTOR_LEFT);
mLeftRing.write(current);
avg = mLeftRing.readAvg();
//belongs to tabular output
if(output){
Serial.print((int) avg);
Serial.print('\t');
}
return mPid_l_.calcPwmTarget(avg);
}
}
LPXLFOPER EXCEL_EXPORT
xlSystemTime(
LPXLFOPER ticksPerSeconda)
{
EXCEL_BEGIN;
if (XlfExcel::Instance().IsCalledByFuncWiz())
return XlfOper(true);
XlfOper ticksPerSecondb(
(ticksPerSeconda));
CellMatrix ticksPerSecondc(
ticksPerSecondb.AsCellMatrix("ticksPerSecondc"));
DoubleOrNothing ticksPerSecond(
DoubleOrNothing(ticksPerSecondc,"ticksPerSecond"));
double t = (clock()+0.0)/CLOCKS_PER_SEC;
double result(
SystemTime(
ticksPerSecond)
);
t = (clock()+0.0)/CLOCKS_PER_SEC-t;
CellMatrix resultCells(result);
CellMatrix time(1,2);
time(0,0) = "time taken";
time(0,1) = t;
resultCells.PushBottom(time);
return XlfOper(resultCells);
EXCEL_END
}
