Diff: main.cpp

Revision:

5:68b740d113e6

Parent:

4:e6ab360e7de6

Child:

6:9ed82a812ece

diff -r e6ab360e7de6 -r 68b740d113e6 main.cpp
--- a/main.cpp	Fri Oct 23 18:40:26 2015 +0000
+++ b/main.cpp	Sun Oct 25 12:03:21 2015 +0000
@@ -15,7 +15,7 @@
 
 Serial pc(SERIAL_TX,SERIAL_RX);
  int Encoderpos = 0;
- float valocity =0,pulse=0,count=0;
+ float valocity =0,pulse=0,count=0,r=0.01,velocityreal=0;
  float outPID =0;
  //double Input,Output,setp,Kp=0.005,Ki=0.005,Kd=0;
 
@@ -30,8 +30,10 @@
   // valocity+=1;
   // pc.printf("%d \n",Encoderpos);
   pulse+=1;
-  if(pulse>=128)
-  {count+=1;pulse=0;}
+  //pc.printf("pulse=%f  \n",pulse);
+ // if(pulse==128)
+  //{count+=1;pulse=0; pc.printf("count=%f  \n",count);}
+  
 }
   
 
@@ -43,41 +45,46 @@
     { Encoderpos = Encoderpos -1;}
     pc.printf("%d",Encoderpos);
 }*/
-void getRPM()
+void getvelo()
 {
-    valocity=count;
+    valocity=pulse+((2*3.14*r)/128);
     pc.printf("%f  \n",valocity);
     count=0;
     timerStart.reset();
 }
+void getveloreal(int velo)
+{
+    velocityreal=velo; 
+    
+}
 
 int main()
 {
-    
-    pc.baud(115200);
-    encoderA.rise(&EncoderA);
-    timerStart.start();
-    
-   
+       int times=0;
+       pc.baud(115200);
+       encoderA.rise(&EncoderA);
+       timerStart.start();   
        P1.setMode(1);
-       
-       P1.setSetPoint(20);
+       getveloreal(50);
+       P1.setSetPoint(velocityreal);//setpont
        P1.setBias(0);
        pc.printf("READY \n");
        led1=1;
     while(1)
     
     {  
-       
-       if(timerStart.read()==60)
-       {
-           getRPM();
+       times=timerStart.read();
+       if(times==1)// m/s
+       {   
+           getvelo();
+           //pc.printf("TIME \n");
+           times=0;
         }
        //timecount.attach(&getRPM, 60);
        P1.setProcessValue(valocity);
        // m1.movespeed(1,1.0);
         outPID=P1.compute();
-        m1.movespeed(1,outPID);
+        m1.movespeed(1,velocityreal,outPID);
         
         wait(0.1);