Biorobotics
/
P_controler
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Revision 5:d8195d9d098f, committed 2015-10-14
- Comitter:
- yohoo15
- Date:
- Wed Oct 14 13:26:00 2015 +0000
- Parent:
- 4:1b4885298ade
- Commit message:
- The p controler working inlcusive go flag, variable is rotations
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 1b4885298ade -r d8195d9d098f main.cpp
--- a/main.cpp Wed Oct 14 12:58:25 2015 +0000
+++ b/main.cpp Wed Oct 14 13:26:00 2015 +0000
@@ -22,7 +22,7 @@
// 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 in degree
double movement = Rotation * pulses_per_revolution; // times 360 to make Rotations degree.
// defining flags
@@ -44,7 +44,8 @@
double P(double error, const double Kp)
{
- double P_output = Kp * error;
+
+ double P_output = (Kp * error);
return P_output;
}
// Next task, measure the error and apply the output to the plant
@@ -73,8 +74,8 @@
void counts_showing()
{
- double kijken = wheel.getPulses();
- pc.printf("ref %.0f count%.0f \n",movement,kijken);
+ double kijken = wheel.getPulses() / pulses_per_revolution;
+ pc.printf("ref %.0f rounds%.4f \n",Rotation,kijken);
}
@@ -98,3 +99,4 @@
}
+