Biorobotics 7 / BioroboticsMotorControl

PID motor controll for the biorobotics project.

Dependencies:   FastPWM QEI

Dependents:   PID_example Motor_calibration Demo_mode Demo_mode ... more

Diff: motor.cpp

Revision:
7:eb8787e7a5f5
Parent:
6:d83c79716ea1
Child:
8:bff5193c7d74
diff -r d83c79716ea1 -r eb8787e7a5f5 motor.cpp
--- a/motor.cpp	Wed Oct 31 08:01:35 2018 +0000
+++ b/motor.cpp	Wed Oct 31 08:47:16 2018 +0000
@@ -8,6 +8,7 @@
     pid = PID();
     
     target_angle = 0;
+    extra_reduction_ratio = 1.0;
     
     printcount = 0;
     pid_period = 0;
@@ -62,12 +63,16 @@
     pid.set_k_values(k_p, k_i, k_d);
 }
 
+void Motor::set_extra_reduction_ratio(double ratio) {
+    extra_reduction_ratio = ratio;
+}
+
 void Motor::set_target_angle(double angle) {
-    target_angle = angle;
+    target_angle = angle * extra_reduction_ratio;
 }
 
 double Motor::get_current_angle() {
-    return encoder_pulses_to_radians(encoder.getPulses());
+    return encoder_pulses_to_radians(encoder.getPulses()) * extra_reduction_ratio;
 }
 
 void Motor::update() {