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Copy pathpid_fbar.h
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pid_fbar.h
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int chain_stat;
int chain_driver_control;
int fbarflagraw;
void Setusechain(int power){
chain_driver_control = power;
}
task fbar_control(){
while(true){
if (chain_stat==1){
if(fbarflag==0){
if(SensorValue[FBARPOT]<2300){
Setusechain(90);
}
else{
Setusechain(10);
}
}
else if(fbarflag==1){
if(SensorValue[FBARPOT]>1000){
Setusechain(-90);
}
else{
Setusechain(-10);
}
}
if((SensorValue[FBARPOT]<2500)&&(chain_driver_control>0)){
SetFbar(chain_driver_control);
}
else if((SensorValue[FBARPOT]>900)&&(chain_driver_control<0)){
SetFbar(chain_driver_control);
//writeDebugStreamLine("set 127");
}
else{
SetFbar(0);
//writeDebugStreamLine("set 0");
}
}
else if(chain_stat==2){
if(fbarflagraw==0){
if(SensorValue[FBARPOT]<2300){
Setusechain(90);
}
else{
Setusechain(10);
}
}
else if(fbarflagraw==1){
if(SensorValue[FBARPOT]>1000){
Setusechain(-90);
}
else{
Setusechain(-10);
}
}
if((SensorValue[FBARPOT]<2500)&&(chain_driver_control>0)){
SetFbar(chain_driver_control);
}
else if((SensorValue[FBARPOT]>900)&&(chain_driver_control<0)){
SetFbar(chain_driver_control);
//writeDebugStreamLine("set 127");
}
else{
SetFbar(0);
//writeDebugStreamLine("set 0");
}
}
else{
SetFbar(chain_driver_control);
}
wait1Msec( 25 );
}
}