Diff: main.cpp

Revision:

1:7c3dbf140bfc

Parent:

0:f02641e3fb91

Child:

2:933d3edf38da

--- a/main.cpp	Fri Oct 16 08:05:52 2015 +0000
+++ b/main.cpp	Sun Oct 18 18:48:47 2015 +0000
@@ -1,24 +1,30 @@
 #include"mbed.h"
+#include "move.h"
 #include "PID.h"
+
 InterruptIn encoderA(D6);
 InterruptIn encoderB(D5);
+move m1;
+
+PID P1(0.001,0.005,0,0.1);
 
 //DigitalIn encoderB(D5);
 
 
 Serial pc(SERIAL_TX,SERIAL_RX);
  int Encoderpos = 0;
- int valocity =0;
+ float valocity =0;
+ float outPID =0;
 
 void EncoderA()
 {   if(encoderB==0)
         { Encoderpos = Encoderpos + 1;}
     else
    { Encoderpos = Encoderpos -1;}
-   // pc.printf("do");
+   
    //Encoderpos = Encoderpos + 1;
    valocity+=1;
-   pc.printf("%d \n",Encoderpos);
+  // pc.printf("%d \n",Encoderpos);
 }
   
 
@@ -33,15 +39,22 @@
 
 int main()
 {
+   
     pc.baud(115200);
     encoderA.rise(&EncoderA);
-   pc.printf("Encode\n");
-    
-    
+   //pc.printf("Encode\n");
+        P1.setMode(0);
+        P1.setProcessValue(0.7);
+       P1.setSetPoint(0.8);
+      //  P1.setBias(0);
     while(1)
-    {
-       // pc.printf("Encode\n");
-        //wait(1);
+    {  P1.setProcessValue(0.7);
+       P1.setSetPoint(0.8);
+       outPID=P1.compute();
+    //   pc.printf("palm \n");
+        pc.printf("%f  \n",outPID);
+        wait(1);
+    
        // pc.printf("%d \n",Encoderpos);
          
     }