sd and controller updates

Alpha-CubeSat · Dec 2, 2024 · ff922fe · ff922fe
1 parent d7671b6
commit ff922fe
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Showing 4 changed files with 8 additions and 8 deletions.
diff --git a/src/Control Tasks/MotorControlTask.cpp b/src/Control Tasks/MotorControlTask.cpp
@@ -88,8 +88,8 @@ void MotorControlTask::control() {
 
     if (duty_cycle < 1180.00) {
         duty_cycle = 1180.00;
-    } else if (duty_cycle > 1920.00) {
-        duty_cycle = 1920.00;
+    } else if (duty_cycle > 2000.00) {
+        duty_cycle = 2000.00;
     }
     // convert duty cycle to angle for esc
     angle = map(duty_cycle, 1000, 2000, 0, 180);

diff --git a/src/Control Tasks/MotorControlTask.hpp b/src/Control Tasks/MotorControlTask.hpp
@@ -22,8 +22,8 @@ class MotorControlTask {
     double time_curr = 0.0;
     double time_prev = 0.0;
 
-    double Kd = 5;
-    double Kp = 5;
+    double Kd = 50;
+    double Kp = 100;
     double proportional = 0.0;
     double derivative = 0.0;
     double pulse_width = 0.0;

diff --git a/src/Control Tasks/SDControlTask.cpp b/src/Control Tasks/SDControlTask.cpp
@@ -33,7 +33,7 @@ void SDControlTask::execute() {
     file = SD.open(sfr::sd::log_filename, FILE_WRITE);
 
     String data = String(millis()) + "," +
-                  String(sfr::motor::pulse_width) + "," +
+                  String(sfr::controller::record_duty_cycle) + "," +
                   String(sfr::imu::accel_x) + "," +
                   String(sfr::imu::accel_y) + "," +
                   String(sfr::imu::accel_z) + "," +

diff --git a/src/main.cpp b/src/main.cpp
@@ -40,9 +40,9 @@ void loop() {
     vlogln(F("-------------------- START LOOP --------------------"));
 
     imu_monitor.execute();
-    if (!sfr::flight::automated) {
-        ir_control_task.execute();
-    }
+    // if (!sfr::flight::automated) {
+    ir_control_task.execute();
+    // }
     motor_control_task.execute();
     sd_control_task.execute();