![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Alles bij elkaar
Dependencies: Encoder HIDScope MODSERIAL TouchButton mbed-dsp mbed
Diff: main.cpp
- Revision:
- 1:5d30a2ea2e11
- Parent:
- 0:1594bb11fa13
- Child:
- 2:455216d1b5ba
--- a/main.cpp Thu Oct 30 12:21:27 2014 +0000 +++ b/main.cpp Thu Oct 30 13:18:42 2014 +0000 @@ -78,7 +78,7 @@ float new_pwm; float PWM2 = 0.3; //PWM voor instellen hoek batje int toestand = TERUGKEREN; -float setspeed = 0, V3=60, V2=40, V1 =30, Vreturn= 15;//V in counts/s +float setspeed = 0, V3=60, V2=40, V1 =30, Vreturn= 35;//V in counts/s Encoder motor1(PTD5,PTD3); @@ -628,20 +628,22 @@ } } if (toestand == SLAAN && abs(motor1.getPosition()) >= ANGLEMAX) { + pc.printf("toestand = terugkeren\n\r"); toestand = TERUGKEREN; stop = 1; //zorgt dat hij niet weer gaat slaan tot er gereset is... } if (toestand == TERUGKEREN) { + pc.printf("motor gaat terugkeren\n\r"); new_pwm = pid(Vreturn, motor1.getSpeed()); pwm_motor1.write(new_pwm); - motordir1 = 1; + motordir1 = 0; } if (toestand == WACHTEN) { pwm_motor1.write(0); } if (toestand == SLAAN) { new_pwm = pid(setspeed, motor1.getSpeed()); - motordir1 = 0; + motordir1 = 1; pwm_motor1.write(new_pwm); } } \ No newline at end of file