Diff: main.cpp

Revision:

6:60227fd3b30f

Parent:

5:43e34b6d66af

Child:

7:dbc066a7bb66

diff -r 43e34b6d66af -r 60227fd3b30f main.cpp
--- a/main.cpp	Mon Sep 28 09:27:22 2015 +0000
+++ b/main.cpp	Mon Sep 28 11:23:06 2015 +0000
@@ -11,6 +11,7 @@
 
 //ingangen
 AnalogIn pot1(A2);
+IntertuptIn changecontrollervalue(PTA4);
 
 //uitgangen
 DigitalOut motor1_direction(D7);// draairichting motor 1 (1 is CW encoder als je daar op kijkt en CW shaft als je daar op kijkt)
@@ -65,6 +66,7 @@
     return y;
 }
 ///////////////////////////////////////////////////////////CONTROLLERS//////////////////////////////////////////////////////////
+
 //DIT ZIJN ZOMAAR WAARDEN, AANPASSEN DUS WAARDES BEREKENEN MET MATLAB
 const float motor1_pid_kp=0.5;
 const float motor1_pid_ki=0.01;
@@ -88,7 +90,6 @@
     return Kp * e + Ki * motor1_error_int + Kd * e_der;
 }
 
-
 ///////////////////////////////////////////////////////////GO-FLAGS AND ACTIVATION FUNCTIONS///////////////////////////////
 //go flags
 volatile bool scopedata_go=false, pid_control_go=false;
@@ -152,8 +153,20 @@
             scopedata();
             scopedata_go=false;
         }
+        //intterrupt in to change controller values
+        if (changecontrollervalues==0) {
+            motor1_speed_control=0;
+            pc.printf("KP is now %f, enter new value\n",motor1_pid_kp);
+            pc.scanf("%f", &motor1_pid_kp);
+
+            pc.printf("KI is now %f, enter new value\n",motor1_pid_ki);
+            pc.scanf("%f", &motor1_pid_ki);
+
+            pc.printf("KP is now %f, enter new value\n",motor1_pid_kd);
+            pc.scanf("%f", &motor1_pid_kd);
+        }
+
 
     }
     return 0; //gives warning: unreachable
-
 }
\ No newline at end of file