Could someone look this over?

[KenWittlief]

oops. I just edited my last post with another idea, go back and check it.

[KenWittlief]

also this code

__________
if(currentPWM >= goalPWM + sensitivity)
return currentPWM - sensitivity;
if(currentPWM <= goalPWM - sensitivity)
return currentPWM + sensitivity;
__________________________

both IFs can be true when the first IF causes the value to change, then the second one will become true and change it again - I dont think you want that - shouldnt the first IF jump over the second one when its true?

[Ryan M.]

Originally Posted by KenWittlief

also this code

__________
if(currentPWM >= goalPWM + sensitivity)
return currentPWM - sensitivity;
if(currentPWM <= goalPWM - sensitivity)
return currentPWM + sensitivity;
__________________________

both IFs can be true when the first IF causes the value to change, then the second one will become true and change it again - I dont think you want that - shouldnt the first IF jump over the second one when its true?

We return after one of them is true, so it doesn't matter.

[KenWittlief]

if the printf is producing something you dont expect, its not the printf function thats faulty :c)

when your code is not doing what you think it should be, then something IS wrong in there - so if you printf out a variable and its not what you think should be there, then you have found at least one thing that is wrong in your code.

[Ryan M.]

Originally Posted by KenWittlief

if the printf is producing something you dont expect, its not the printf statement thats faulty :c)

I know, I just can't quite figure it out. I'll have to play with it some, oh, wait, as I was sitting here I just got an idea. It might not be doing the conversion from a unsigned char to an int correctly. Maybe an explicit cast will help...

As I said in a previous edited post, we have used dashboard on it and it appeared to work then, but I'm not sure about the version I was using. Thanks for your help.

[Joe Ross]

Originally Posted by Texan

It might not be doing the conversion from a unsigned char to an int correctly. Maybe an explicit cast will help...

That is exactly the problem and the solution.

[Ryan M.]

Yes!

PS Excessive celebration, 5 yard penalty.

Any more suggestions appreciated. Thanks

[Joe Ross]

     	if(currentPWM >= goalPWM + sensitivity)
     		return currentPWM - sensitivity;
     	if(currentPWM <= goalPWM - sensitivity)
     		return currentPWM + sensitivity;

Since everything is an unsigned char, then this code is a problem.
If goalPWM is 254 and sensitivity is 10 and CurrentPWM is 127, the result of (goalPWM + sensitivity) is 8 and so CurrentPWM is greater then 8 and you return 117 not 137 like you hope.

[Ryan M.]

Originally Posted by Joe Ross

        	if(currentPWM >= goalPWM + sensitivity)
        		return currentPWM - sensitivity;
        	if(currentPWM <= goalPWM - sensitivity)
        		return currentPWM + sensitivity;

Since everything is an unsigned char, then this code is a problem.
If goalPWM is 254 and sensitivity is 10 and CurrentPWM is 127, the result of (goalPWM + sensitivity) is 8 and so CurrentPWM is greater then 8 and you return 117 not 137 like you hope.

Yep, that will be the problem I'm sure. I'll just add a few extra tests for the extreme cases. (wanting to be at 0 and 254)

And the funny thing is, I had already paritially taken looping around into acount in the code.