Diff: main.cpp

Revision:

4:5243e66b1fea

Parent:

3:bb7b6034bb7c

Child:

5:be9f9dcbd9b0

--- a/main.cpp	Thu Oct 08 14:04:55 2015 +0000
+++ b/main.cpp	Wed Oct 14 15:22:49 2015 +0000
@@ -29,7 +29,7 @@
 Timeout schieten_timeout;
 
 // controller values and errors
-controlandadjust mycontroller;
+controlandadjust mycontroller;//the value between () is the maximum value of the PWM signal send to the motors
 const float Kp=0.5;
 const float Ki=0.01;
 const float Kd=0.001;
@@ -45,8 +45,8 @@
 const float cpr=32*131;
 const float PI=3.1415;
 const float counttorad=((2*PI)/cpr);
-const float radpersecbut=(PI/read_but_frequency);
-const float schiethoek=0.5*PI;
+const float radpersecbut=((0.1*PI)/read_but_frequency);
+const float schiethoek=0.35*PI;
 const float schiettijd=0.5;
 
 //angle for motor
@@ -101,7 +101,7 @@
         error1=(desiredangle[0]-counttorad*encoder1.getPulses());
         error2=(desiredangle[1]-counttorad*encoder2.getPulses());
         mycontroller.PI(error1, error2, Kp, Ki, Ts_control, error1_int, error2_int);
-        
+        scopedata();
         wait (Ts_control-(schiettimer.read()-Ts_control*pass)); // even wachten anders wordt de while loop te snel doorlopen en gaan de motoren wak
         pass++;
     }
@@ -115,6 +115,7 @@
 //////////////////////////////////////////////////MAIN///////////////////////////////////
 int main()
 {
+    mycontroller.cutoff(0.5);
     pc.baud(115200);
     //tickers
     hidscope_ticker.attach(&scopedata_activate,1.0/hidscope_frequency);