Diff: main.cpp

Revision:

2:933d3edf38da

Parent:

1:7c3dbf140bfc

Child:

3:365615fa646e

--- a/main.cpp	Sun Oct 18 18:48:47 2015 +0000
+++ b/main.cpp	Thu Oct 22 11:58:57 2015 +0000
@@ -1,12 +1,13 @@
 #include"mbed.h"
 #include "move.h"
 #include "PID.h"
+//#include "pidmotor.h"
 
 InterruptIn encoderA(D6);
 InterruptIn encoderB(D5);
+Timer timerStart;
 move m1;
-
-PID P1(0.001,0.005,0,0.1);
+PID P1(0.001,0,0,0.1);
 
 //DigitalIn encoderB(D5);
 
@@ -14,7 +15,9 @@
 Serial pc(SERIAL_TX,SERIAL_RX);
  int Encoderpos = 0;
  float valocity =0;
- float outPID =0;
+ float outPID =0,i=0;
+ double Input,Output,setp,Kp=0.005,Ki=0.005,Kd=0;
+// pid1 p(&Input,&Output,&setp,Kp,Ki,Kd,1);
 
 void EncoderA()
 {   if(encoderB==0)
@@ -42,18 +45,19 @@
    
     pc.baud(115200);
     encoderA.rise(&EncoderA);
-   //pc.printf("Encode\n");
-        P1.setMode(0);
-        P1.setProcessValue(0.7);
+    timerStart.start();
+    
+   
+       P1.setMode(1);
+       P1.setProcessValue(0.7);
        P1.setSetPoint(0.8);
-      //  P1.setBias(0);
+       P1.setBias(0);
     while(1)
-    {  P1.setProcessValue(0.7);
-       P1.setSetPoint(0.8);
-       outPID=P1.compute();
-    //   pc.printf("palm \n");
+    {  
+        m1.movespeed(1,1.0);
+        outPID=P1.compute();
         pc.printf("%f  \n",outPID);
-        wait(1);
+        wait(0.1);
     
        // pc.printf("%d \n",Encoderpos);