Diff: main.cpp

Revision:

6:9ed82a812ece

Parent:

5:68b740d113e6

Child:

7:2daffd310c71

diff -r 68b740d113e6 -r 9ed82a812ece main.cpp
--- a/main.cpp	Sun Oct 25 12:03:21 2015 +0000
+++ b/main.cpp	Tue Oct 27 05:45:49 2015 +0000
@@ -9,13 +9,13 @@
 Timeout timecount;
 move m1;
 PID P1(0.005,0.005,0,0.1);
-
+float setp=0;
 //DigitalIn encoderB(D5);
 
 
 Serial pc(SERIAL_TX,SERIAL_RX);
  int Encoderpos = 0;
- float valocity =0,pulse=0,count=0,r=0.01,velocityreal=0;
+ float valocity =0,pulse=0,count=0,r=0.125,velocityreal=0;
  float outPID =0;
  //double Input,Output,setp,Kp=0.005,Ki=0.005,Kd=0;
 
@@ -47,44 +47,52 @@
 }*/
 void getvelo()
 {
-    valocity=pulse+((2*3.14*r)/128);
-    pc.printf("%f  \n",valocity);
+    valocity=pulse*((2*3.14*r)/128);
+   // pc.printf("%f  \n",valocity);
     count=0;
     timerStart.reset();
 }
-void getveloreal(int velo)
+float map(long x, long in_min, long in_max, long out_min, long out_max)
 {
-    velocityreal=velo; 
+    return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
     
 }
 
 int main()
 {
        int times=0;
+       
        pc.baud(115200);
        encoderA.rise(&EncoderA);
        timerStart.start();   
        P1.setMode(1);
-       getveloreal(50);
-       P1.setSetPoint(velocityreal);//setpont
+       //setp=map(1,0,1.0916,0,1);
+       setp=map(1.0,0.0,1.094,0.0,1.0);
+       
+      // P1.setSetPoint(velocityreal);//setpont
+        P1.setSetPoint(1);//setpont
        P1.setBias(0);
        pc.printf("READY \n");
+      
        led1=1;
     while(1)
     
     {  
+        pc.printf("%l  \n",setp);
        times=timerStart.read();
        if(times==1)// m/s
        {   
            getvelo();
            //pc.printf("TIME \n");
            times=0;
+           pulse=0;
         }
-       //timecount.attach(&getRPM, 60);
+      
        P1.setProcessValue(valocity);
        // m1.movespeed(1,1.0);
         outPID=P1.compute();
-        m1.movespeed(1,velocityreal,outPID);
+        //m1.movespeed(1,velocityreal,outPID);
+        m1.movespeed(1,1,0);
         
         wait(0.1);