Diff: main.cpp

Revision:

28:d0b26cfe5d80

Parent:

26:70e5b6908e0a

Child:

29:c1f4467bfd19

--- a/main.cpp	Wed Oct 21 13:37:34 2015 +0000
+++ b/main.cpp	Mon Oct 26 10:18:05 2015 +0000
@@ -46,7 +46,7 @@
 
 //Controller gain Motor 2 & 1
     const double m2_Kp = 2.1/57,m2_Ki = 3.9/57, m2_Kd = 0.1/57;
-    const double m1_Kp = 5,m1_Ki = 0.05, m1_Kd = 2;
+    const double m1_Kp = 2.1/57,m1_Ki = 3.9/57, m1_Kd = 0.1/57;
     double m2_err_int = 0, m2_prev_err = 0;
     double m1_err_int = 0, m1_prev_err = 0;
     
@@ -186,20 +186,20 @@
                 if(c == 'r')
                 {
                     m2_ref = m2_ref + Stapgrootte;
-                    m1_ref = m1_ref - Stapgrootte;
+                    m1_ref = m1_ref + Stapgrootte;
                     if (m2_ref > Grens2)
                     {
                         m2_ref = Grens2;
-                        m1_ref = -1*Grens1;
+                        m1_ref = Grens1;
                     }
                 }
                 if(c == 'f')
                 {
                     m2_ref = m2_ref - Stapgrootte;
-                    m1_ref = m1_ref + Stapgrootte;
+                    m1_ref = m1_ref - Stapgrootte;
                     if (m2_ref < -1*Grens2)
                     {
-                        m2_ref = -1*Grens2;
+                        m2_ref = Grens2;
                         m1_ref = Grens1;
                     }
                 }