![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Alles bij elkaar
Dependencies: Encoder HIDScope MODSERIAL TouchButton mbed-dsp mbed
Diff: main.cpp
- Revision:
- 2:455216d1b5ba
- Parent:
- 1:5d30a2ea2e11
- Child:
- 3:68b364036bc8
--- a/main.cpp Thu Oct 30 13:18:42 2014 +0000 +++ b/main.cpp Thu Oct 30 14:05:36 2014 +0000 @@ -611,8 +611,9 @@ void motor1aansturing() { - if (motor1.getPosition()<= ANGLEMIN && toestand != SLAAN) { + if (abs(motor1.getPosition())<= ANGLEMIN && toestand != SLAAN) { toestand = WACHTEN; + pc.printf("if1\n"); } if (snelheidsstand != 0 && toestand == WACHTEN && stop == 0) { // stop = 0 in het begin let op dat dit na reset nog zo is toestand = SLAAN; @@ -634,16 +635,20 @@ } if (toestand == TERUGKEREN) { pc.printf("motor gaat terugkeren\n\r"); - new_pwm = pid(Vreturn, motor1.getSpeed()); - pwm_motor1.write(new_pwm); + //pid(Vreturn, motor1.getSpeed()); + pwm_motor1.write(0.5); + pc.printf("new pwm %f\r\n",new_pwm); motordir1 = 0; } if (toestand == WACHTEN) { pwm_motor1.write(0); + pc.printf("ifwachten\n"); } if (toestand == SLAAN) { new_pwm = pid(setspeed, motor1.getSpeed()); motordir1 = 1; pwm_motor1.write(new_pwm); + pc.printf("SLAAN\n"); + } } \ No newline at end of file