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Dependencies: Encoder HIDScope MODSERIAL TouchButton mbed-dsp mbed
Fork of
Robot2mooiemanier
by 
BMT M9 Groep01
Revision 25:28be2bf11ad7, committed 2014-10-31
- Comitter:
- Jolein
- Date:
- Fri Oct 31 15:21:20 2014 +0000
- Parent:
- 24:a165dcd86710
- Child:
- 26:ce2d9945e45d
- Commit message:
- met newpos als pwm...
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Fri Oct 31 14:54:49 2014 +0000
+++ b/main.cpp Fri Oct 31 15:21:20 2014 +0000
@@ -9,8 +9,8 @@
#define K_I (0.02 *TSAMP1)
#define K_D (0 /TSAMP1)
#define I_LIMIT 1.
-#define K_Pp (0.2)
-#define K_Ip (0.02 *TSAMP1)
+#define K_Pp (0.02)
+#define K_Ip (0.002 *TSAMP1)
#define K_Dp (0 /TSAMP1)
#define TSAMP1 0.01
@@ -81,6 +81,7 @@
bool stop;
float new_pwm;
+float new_pos;
float PWM2 = 0.3; //PWM voor instellen hoek batje
int toestand = WACHTEN; //terugkeren?
float setspeed = 0, V3=60, V2=40, V1 =30, Vreturn= 35;//V in counts/s
@@ -719,7 +720,9 @@
}
if (toestand == WACHTEN) {
pwm_motor1.write(0);
- pidpositie(ANGLEMIN, motor1.getPosition());
+ new_pos = pidpositie(ANGLEMIN, motor1.getPosition());
+ pc.printf("new position %f/r/n", new_pos);
+ pwm_motor1.write(new_pos);
//pc.printf("ifwachten2\n");
}
//sturen naar HID Scope