Diff: main.cpp

Revision:

5:be9f9dcbd9b0

Parent:

4:5243e66b1fea

Child:

6:2d67144f217b

Child:

7:8482ea098a37

--- a/main.cpp	Wed Oct 14 15:22:49 2015 +0000
+++ b/main.cpp	Thu Oct 15 09:51:08 2015 +0000
@@ -30,9 +30,9 @@
 
 // controller values and errors
 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;
+ float Kp=0.5;
+ float Ki=0.01;
+ float Kd=0.001;
 const float Ts_control=1.0/control_frequency;
 float error1=0;
 float error2=0;
@@ -97,7 +97,7 @@
     schiettimer.start();
     float pass=0;
     while(schiettimer.read()<=schiettijd) {
- // errors berekenen en naar de controller passen   
+// errors berekenen en naar de controller passen
         error1=(desiredangle[0]-counttorad*encoder1.getPulses());
         error2=(desiredangle[1]-counttorad*encoder2.getPulses());
         mycontroller.PI(error1, error2, Kp, Ki, Ts_control, error1_int, error2_int);
@@ -112,6 +112,19 @@
     desiredangle[1]-=schiethoek;
 }
 
+void changecontrollervalues()
+{
+    mycontroller.STOP();
+    
+    pc.printf("KP is now %f, enter new value\n",Kp);
+    pc.scanf("%f", &Kp);
+
+    pc.printf("KI is now %f, enter new value\n",Ki);
+    pc.scanf("%f", &Ki);
+
+    pc.printf("KD is now %f, enter new value\n",Kd);
+    pc.scanf("%f", &Kd);
+}
 //////////////////////////////////////////////////MAIN///////////////////////////////////
 int main()
 {
@@ -159,17 +172,7 @@
             scopedata_go=false;
         }
         //unit om controllervalues aan te passen
-        if (changecontrollervaluesbutton.read()==0) {
-            mycontroller.STOP();
-            pc.printf("KP is now %f, enter new value\n",Kp);
-            pc.scanf("%f", &Kp);
-
-            pc.printf("KI is now %f, enter new value\n",Ki);
-            pc.scanf("%f", &Ki);
-
-            pc.printf("KD is now %f, enter new value\n",Kd);
-            pc.scanf("%f", &Kd);
-        }
+        changecontrollervaluesbutton.fall(&changecontrollervalues);
     }
     return 0;
 }