Diff: main.cpp

Revision:

8:8fbc0c858875

Parent:

7:2daffd310c71

Child:

9:86701fec3f79

--- a/main.cpp	Tue Oct 27 06:27:56 2015 +0000
+++ b/main.cpp	Mon Dec 14 19:35:08 2015 +0000
@@ -9,9 +9,9 @@
 Timeout timecount;
 move m1;
 PID P1(0.005,0.005,0,0.1);
-double setp=0;
+double setp1=0,setp2=0;
 //DigitalIn encoderB(D5);
-
+int times;
 
 Serial pc(SERIAL_TX,SERIAL_RX);
  int Encoderpos = 0;
@@ -57,6 +57,40 @@
     return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
     
 }
+void PID_m1()
+{
+    setp1=map(1.0,0.0,1.094,0.0,1.0);
+    P1.setSetPoint(setp1);
+     times=timerStart.read();
+       if(times==1)// m/s
+       {   
+           getvelo();
+           //pc.printf("TIME \n");
+           times=0;
+           pulse=0;
+        }
+    P1.setProcessValue(valocity);
+    outPID=P1.compute();
+     //pc.printf("outPID=%f \n",outPID);
+     m1.movespeed_1(1,setp1,outPID);
+}
+void PID_m2()
+{
+    setp2=map(1.0,0.0,1.094,0.0,1.0);
+    P1.setSetPoint(setp2);
+     times=timerStart.read();
+       if(times==1)// m/s
+       {   
+           getvelo();
+           //pc.printf("TIME \n");
+           times=0;
+           pulse=0;
+        }
+    P1.setProcessValue(valocity);
+    outPID=P1.compute();
+     //pc.printf("outPID=%f \n",outPID);
+     m1.movespeed_2(1,setp2,outPID);
+}
 
 int main()
 {
@@ -67,10 +101,10 @@
        timerStart.start();   
        P1.setMode(1);
        //setp=map(1,0,1.0916,0,1);
-       setp=map(1.0,0.0,1.094,0.0,1.0);
+     //  setp=map(1.0,0.0,1.094,0.0,1.0);
        
       // P1.setSetPoint(velocityreal);//setpont
-        P1.setSetPoint(setp);//setpont
+     //   P1.setSetPoint(setp);//setpont
        P1.setBias(0);
        pc.printf("READY \n");
       
@@ -78,6 +112,9 @@
     while(1)
     
     {  
+    
+    
+    /*
        // pc.printf("%f  \n",setp);
        times=timerStart.read();
        if(times==1)// m/s
@@ -96,7 +133,7 @@
        // m1.movespeed(1,1,0);
         
         wait(0.1);
-    
+    */
        
          
     }