From 33fdd0252fbafe540c492c41711ccbfe6e6a187c Mon Sep 17 00:00:00 2001
From: Max <max.kaenner@stud.uni-hannover.de>
Date: Thu, 9 Feb 2023 14:24:21 +0100
Subject: [PATCH] Adjust scaling of parameters

---
 src/main.rs | 27 +++++++++++++--------------
 1 file changed, 13 insertions(+), 14 deletions(-)

diff --git a/src/main.rs b/src/main.rs
index 14a7bd9..7f55db1 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -71,7 +71,7 @@ fn try_main() -> Result<(), Box<dyn Error>> {
             &sensor,
             &mut buttons,
             setpoint,
-            (k_p / 10.0, k_i / 10000.0, k_d / 10000.0),
+            (k_p / 5.0, k_i / 5000.0, k_d * 10.0),
             v,
         );
         left_motor.stop().and(right_motor.stop())?;
@@ -95,10 +95,10 @@ fn select_values(
     font: &Font,
 ) -> (f32, f32, f32, i32) {
     use Parameter::{Kd, Ki, Kp, Speed};
-    let mut k_p = thread_rng().gen_range(0.01..=10.0);
-    let mut k_i = thread_rng().gen_range(0.01..=10.0);
-    let mut k_d = thread_rng().gen_range(0.01..=10.0);
-    let mut v = thread_rng().gen_range(1..=100);
+    let mut k_p = 0.0; //thread_rng().gen_range(0.01..=10.0);
+    let mut k_i = 0.0; //thread_rng().gen_range(0.01..=10.0);
+    let mut k_d = 0.0; //thread_rng().gen_range(0.01..=10.0);
+    let mut v = 0; //thread_rng().gen_range(1..=100);
     let mut selected = Kp;
     let mut times_pressed_up = 0;
     let mut times_pressed_down = 0;
@@ -156,18 +156,18 @@ fn select_values(
                 if buttons.is_up() {
                     *param = (*param
                         + if times_pressed_up > 10 {
-                            0.01f32
-                        } else {
                             0.1f32
+                        } else {
+                            0.01f32
                         })
                     .min(99.99);
                 }
                 if buttons.is_down() {
                     *param = (*param
                         - if times_pressed_down > 10 {
-                            0.01f32
-                        } else {
                             0.1f32
+                        } else {
+                            0.01f32
                         })
                     .max(0.0);
                 }
@@ -231,10 +231,7 @@ fn follow_line(
     v: i32,
 ) -> Result<Duration, ProgramError> {
     let mut controller = Pid::new(setpoint, 200.0);
-    controller
-        .p(k_p, f32::INFINITY)
-        .i(k_i, f32::INFINITY)
-        .d(k_d, f32::INFINITY);
+    controller.p(k_p, 200.0).i(k_i, 200.0).d(k_d, 200.0);
     left.set_duty_cycle_sp(0)?;
     right.set_duty_cycle_sp(0)?;
     buttons.process();
@@ -253,7 +250,9 @@ fn follow_line(
         let red = is_red(color);
         match state {
             LineFollowState::PreStart if red => state = LineFollowState::Start(Instant::now()),
-            LineFollowState::Start(start) if !red => state = LineFollowState::Run(start),
+            LineFollowState::Start(start) if !red && start.elapsed().as_secs() > 10 => {
+                state = LineFollowState::Run(start);
+            }
             LineFollowState::Run(start) if red => state = LineFollowState::Finish(start.elapsed()),
             _ => (),
         }