Diff: main.cpp

Revision:

53:bdcbf365a9aa

Parent:

52:b4af2a4ce38e

Child:

54:2b54283b3b47

--- a/main.cpp	Sun Nov 02 14:46:03 2014 +0000
+++ b/main.cpp	Sun Nov 02 14:48:45 2014 +0000
@@ -83,7 +83,7 @@
 float pwm;
 float new_pwmpos;
 float new_pwm;
-float PWM2 = 0.3; //PWM voor instellen hoek batje
+float PWM2 = 0.3; //PWM voor instellen hoek batje, kan waarschijnlijk een stuk langzamer
 int toestand = WACHTEN; //terugkeren?
 float setspeed = 0, V3=60, V2=40, V1 =30, Vreturn= 35;//V in counts/s
 
@@ -659,16 +659,16 @@
     {
         case 0:
             if (motor2.getPosition()>= 0) {
-            motordir2 = 1;
-            pwm_motor2.write(PWM2);
+                motordir2 = 1;
+                pwm_motor2.write(PWM2);
             } else {
                 pwm_motor2.write(0);
             }
             break;
         case 1:
             if (motor2.getPosition()>= 2) {
-            motordir2 = 1;
-            pwm_motor2.write(PWM2);
+                motordir2 = 1;
+                pwm_motor2.write(PWM2);
             }
             if (motor2.getPosition()<= 2) {
                 motordir2 = 0;
@@ -679,8 +679,8 @@
             break;
         case 2:
             if (motor2.getPosition()<= 4) {
-            motordir2 = 0;
-            pwm_motor2.write(PWM2);
+                motordir2 = 0;
+                pwm_motor2.write(PWM2);
             } else {
                 pwm_motor2.write(0);
             }
@@ -738,8 +738,8 @@
                 new_pwmpos = pidpositie(ANGLEMAX, motor1.getPosition());
                 pwm_motor1.write(new_pwmpos); //mogelijk moet dit -new_pwm zijn???
                 motordir1 = 1;
-            }*///overbodig!!! 
-            break;
+            }
+            break;*///overbodig!!! 
     } //end switch
     scope.set(0,motor1.getPosition());
     scope.set(1,motor1.getPosition());