Diff: main.cpp

Revision:

27:9dea548d6d6c

Parent:

26:bee27c74a835

Child:

28:488e24ed1cb1

--- a/main.cpp	Sat Nov 01 12:11:02 2014 +0000
+++ b/main.cpp	Sat Nov 01 12:33:16 2014 +0000
@@ -10,7 +10,7 @@
 #define K_D (0  /TSAMP1)
 #define I_LIMIT 1.
 #define K_Pp (0.2)
-#define K_Ip (0.002  *TSAMP1)
+#define K_Ip (0.02  *TSAMP1)
 #define K_Dp (0  /TSAMP1)
 
 #define TSAMP1 0.01
@@ -437,7 +437,7 @@
     float           out_p = 0;
     static float    out_i = 0;
     float           out_d = 0;
-    error  = setspeed-measurement;
+    error  = setposition-measurement;
     out_p  = error*K_Pp;
     out_i += error*K_Ip;
     out_d  = (error-prev_error)*K_Dp;
@@ -713,7 +713,7 @@
     }
     if (toestand == TERUGKEREN) {
         new_pwm = pid(setspeed, motor1.getSpeed(),false);
-        pwm_motor1.write(new_pwm);
+        pwm_motor1.write(0.3);
         motordir1 = 0;
 
         pc.printf("motor2.getPosition %d\r\n", motor2.getPosition());