Diff: main.cpp

Revision:

4:e6ab360e7de6

Parent:

3:365615fa646e

Child:

5:68b740d113e6

--- a/main.cpp	Fri Oct 23 17:05:09 2015 +0000
+++ b/main.cpp	Fri Oct 23 18:40:26 2015 +0000
@@ -3,12 +3,12 @@
 #include "PID.h"
 
 DigitalOut led1(LED1);
-InterruptIn encoderA(D6);
-InterruptIn encoderB(D5);
+InterruptIn encoderA(D10);
+InterruptIn encoderB(D11);
 Timer timerStart;
 Timeout timecount;
 move m1;
-PID P1(0.001,0,0,0.1);
+PID P1(0.005,0.005,0,0.1);
 
 //DigitalIn encoderB(D5);
 
@@ -46,31 +46,39 @@
 void getRPM()
 {
     valocity=count;
+    pc.printf("%f  \n",valocity);
     count=0;
+    timerStart.reset();
 }
 
 int main()
 {
-   
+    
     pc.baud(115200);
     encoderA.rise(&EncoderA);
     timerStart.start();
     
    
        P1.setMode(1);
-       P1.setProcessValue(0.7);
-       P1.setSetPoint(0.8);
+       
+       P1.setSetPoint(20);
        P1.setBias(0);
        pc.printf("READY \n");
+       led1=1;
     while(1)
     
     {  
-       led1=1;
        
-       timecount.attach(&getRPM, 60);
+       if(timerStart.read()==60)
+       {
+           getRPM();
+        }
+       //timecount.attach(&getRPM, 60);
+       P1.setProcessValue(valocity);
        // m1.movespeed(1,1.0);
-       // outPID=P1.compute();
-       // pc.printf("%f  \n",valocity);
+        outPID=P1.compute();
+        m1.movespeed(1,outPID);
+        
         wait(0.1);
     
        // pc.printf("%d \n",Encoderpos);