Critique this code

[sur2124]

I could get there just fine, the code is a little unorganized, can you formatt it(it would help alot).

[Ben Englert]

Originally Posted by sur2124

I could get there just fine, the code is a little unorganized, can you formatt it(it would help alot).

Elaborate... what do you mean by format it?

[Tom Bottiglieri]

Why did you use integer math in control_system.c and floating point in drive_control.c. All assignments are being dropped into int variables, so multiplying by 1.30 is just going to put extra strain on the processor to just get the same answer.

Try

targetticks = (percentage * 26) /20;

Yay for math by multiples of 2.

Another general question for all of the PIC gurus out there.. which would be more efficient, if there is any difference?

targetticks = (percentage * 26) /20;

or...

targetticks = (percentage * 13) /10;

[Ben Englert]

Originally Posted by Tom Bottiglieri

Why did you use integer math in control_system.c and floating point in drive_control.c. All assignments are being dropped into int variables, so multiplying by 1.30 is just going to put extra strain on the processor to just get the same answer.

Try

targetticks = (percentage * 26) /20;

That's something I've always wondered... people say that doing floating point math really does stretch the PIC to the edge of its capacity, but I haven't had any problems with it, even when it is handling a lot of interrupts from encoders etc. Is there an easy way to tell how much load it's under?