Diff: main.cpp

Revision:

7:b40bbf5be443

Parent:

6:34da048d7168

Child:

8:7bf274156e1f

--- a/main.cpp	Thu Oct 30 14:50:35 2014 +0000
+++ b/main.cpp	Thu Oct 30 15:16:04 2014 +0000
@@ -23,7 +23,7 @@
 void Biceps();
 void Calibratie_Triceps();
 void Calibratie_Biceps();
-float pid(float setspeed, float measurement);
+float pid(float setspeed, float measurement, bool reset = false);
 void motor2aansturing();
 void motor1aansturing();
 
@@ -389,19 +389,24 @@
                 myled1=1;
                 myled2=1;
                 myled3=1;
-            }
+        }
         }
     }
 }//end int main
 
 
-float pid(float setspeed, float measurement)
+float pid(float setspeed, float measurement, bool reset)
 {
     float error;
     static float prev_error = 0;
     float           out_p = 0;
     static float    out_i = 0;
     float           out_d = 0;
+    if(reset)
+    {
+        out_i = 0;
+        prev_error = 0;
+    }
     error  = setspeed-measurement;
     out_p  = error*K_P;
     out_i += error*K_I;
@@ -612,7 +617,8 @@
 {
 
     if (motor1.getPosition()>= ANGLEMIN && toestand != SLAAN) {
-        toestand = WACHTEN; 
+        toestand = WACHTEN;
+        //out_i=0; 
         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
@@ -630,13 +636,14 @@
     }
     if (toestand == SLAAN && motor1.getPosition() <= ANGLEMAX) {
         pc.printf("toestand = terugkeren\n\r");
+        //out_i=0;
         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");
-        //pid(Vreturn, motor1.getSpeed());
-        new_pwm=Vreturn;
+        new_pwm=pid(setspeed, motor1.getSpeed());
+        
         pwm_motor1.write(new_pwm);
         pc.printf("new pwm %f\r\n",new_pwm);
         motordir1 = 0;
@@ -646,7 +653,7 @@
         pc.printf("ifwachten\n");
     }
     if (toestand == SLAAN) {
-        new_pwm =setspeed; //pid(setspeed, motor1.getSpeed());
+        pid(setspeed, motor1.getSpeed());
         motordir1 = 1;
         pwm_motor1.write(new_pwm);
         pc.printf("SLAAN\n");