Diff: main.cpp

Revision:

7:12fedc93c6ad

Parent:

6:cc3e47c7aac2

--- a/main.cpp	Fri Oct 19 11:21:40 2018 +0000
+++ b/main.cpp	Wed Oct 31 09:12:59 2018 +0000
@@ -9,14 +9,16 @@
 const double Ki = 0.1;
 const double Kd = 0.5;
 
-AnalogIn potmeter1(A1); // Analoge input van potmeter 1 -> Motor 1
-AnalogIn potmeter2(A2); // Analoge input van potmeter 2 -> Motor 2
+AnalogIn potmeter1(A5); // Analoge input van potmeter 1 -> Motor 1
+AnalogIn potmeter2(A4); // Analoge input van potmeter 2 -> Motor 2
 Serial pc(USBTX, USBRX);
 
 Motor motor1(D6, D7, D13, D12, &pc);
 Motor motor2(D5, D4, D10, D11, &pc);
 
 
+const double PI = 3.14159265359;
+
 // Normalizes a potmeter value from it's original range of [0, 1] to [-1, 1]
 double normalize_pot(double pot_value) {
     // scales value potmeter from 0-1 to -1 - 1.
@@ -30,6 +32,10 @@
     pc.printf("Starting.");
     motor1.set_pid_k_values(Kp, Ki, Kd);
     motor2.set_pid_k_values(Kp, Ki, Kd);
+    
+    motor1.set_extra_reduction_ratio(-0.5);
+    motor2.set_extra_reduction_ratio(0.5);
+    
     // Start the motor controller at the desired frequency.
     motor1.start(pid_period);
     motor2.start(pid_period);