Diff: main.cpp

Revision:

7:2daffd310c71

Parent:

6:9ed82a812ece

Child:

8:8fbc0c858875

--- a/main.cpp	Tue Oct 27 05:45:49 2015 +0000
+++ b/main.cpp	Tue Oct 27 06:27:56 2015 +0000
@@ -9,7 +9,7 @@
 Timeout timecount;
 move m1;
 PID P1(0.005,0.005,0,0.1);
-float setp=0;
+double setp=0;
 //DigitalIn encoderB(D5);
 
 
@@ -48,11 +48,11 @@
 void getvelo()
 {
     valocity=pulse*((2*3.14*r)/128);
-   // pc.printf("%f  \n",valocity);
+    pc.printf("valocity=%f  \n",valocity);
     count=0;
     timerStart.reset();
 }
-float map(long x, long in_min, long in_max, long out_min, long out_max)
+double map(double x, double in_min, double in_max, double out_min, double out_max)
 {
     return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
     
@@ -70,7 +70,7 @@
        setp=map(1.0,0.0,1.094,0.0,1.0);
        
       // P1.setSetPoint(velocityreal);//setpont
-        P1.setSetPoint(1);//setpont
+        P1.setSetPoint(setp);//setpont
        P1.setBias(0);
        pc.printf("READY \n");
       
@@ -78,7 +78,7 @@
     while(1)
     
     {  
-        pc.printf("%l  \n",setp);
+       // pc.printf("%f  \n",setp);
        times=timerStart.read();
        if(times==1)// m/s
        {   
@@ -91,12 +91,13 @@
        P1.setProcessValue(valocity);
        // m1.movespeed(1,1.0);
         outPID=P1.compute();
-        //m1.movespeed(1,velocityreal,outPID);
-        m1.movespeed(1,1,0);
+         pc.printf("outPID=%f \n",outPID);
+        m1.movespeed(1,setp,outPID);
+       // m1.movespeed(1,1,0);
         
         wait(0.1);
     
-       // pc.printf("%d \n",Encoderpos);
+       
          
     }  
 }
\ No newline at end of file