Diff: main.cpp

Revision:

8:998f4575089b

Parent:

7:6006a473ea0b

Child:

9:ea9d35838861

--- a/main.cpp	Thu Oct 15 13:39:59 2015 +0000
+++ b/main.cpp	Mon Oct 19 09:12:17 2015 +0000
@@ -26,7 +26,7 @@
 
 // Controller gain proportional and intergrator
 const double motor1_Kp = 5; // more or les random number.
-const double motor1_Ki = 0.5;
+const double motor1_Ki = 0;
 const double M1_timestep = 0.01; // reason ticker works with 100 Hz.
 double motor1_error_integraal = 0; // initial value of integral error
 
@@ -34,7 +34,7 @@
 // Defining pulses per revolution (calculating pulses to rotations in degree.)
 const double pulses_per_revolution = 4200 ;//8400 counts is aangegeven op de motor for x4.  10 - 30 counts oveshoot. for moter 1(tape)! Motor 2 almost the same(nice)
 /*
-double Rotation = -2; // rotation in degree
+double Rotation = -2; // rotation 
 double movement = Rotation * pulses_per_revolution; // times 360 to make Rotations degree.
 */
 
@@ -56,12 +56,13 @@
 // To make a new setpoint 
 double making_setpoint(double direction){
     if ( cw == direction){
-        setpoint = setpoint + (pulses_per_revolution/4);
+        setpoint = setpoint + (pulses_per_revolution/40000);
         }
         if ( ccw == direction){
-        setpoint = setpoint - (pulses_per_revolution/4);
+        setpoint = setpoint - (pulses_per_revolution/40000);
         }
     return(setpoint);
+    
     }
 
 // Reusable P controller
@@ -102,8 +103,8 @@
 void counts_showing()
 {
 
-    double kijken = wheel.getPulses() / pulses_per_revolution;
-    pc.printf("ref %.0f rounds%.2f \n",setpoint/pulses_per_revolution,kijken);
+    double kijken = wheel.getPulses()/pulses_per_revolution;
+    pc.printf("ref %.2f rounds%.2f \n",setpoint/pulses_per_revolution,kijken);
 
 }