Biorobotics_group_2 / Mbed 2 deprecated Motor_PID_set_parameters

Sets the Kp, Ki and Kd values of the PID controller for the encoder motors

Dependencies:   FastPWM HIDScope_motor_ff MODSERIAL QEI mbed

Fork of Encoder by Biorobotics_group_2

Diff: main.cpp

Revision:
10:65f63a0a6b3c
Parent:
9:278d25dc0ef3
--- a/main.cpp	Fri Oct 28 09:58:22 2016 +0000
+++ b/main.cpp	Mon Oct 31 11:28:39 2016 +0000
@@ -227,16 +227,14 @@
 void CalculationsForTheta () {
     double Prev_x = Calc_Prev_x ();
     double Prev_y = Calc_Prev_y ();
-    double Calc_Prev_Theta1_Gear ();
-    double Calc_Prev_Theta2_Gear ();
+    double Prev_Theta1_Gear = Calc_Prev_Theta1_Gear ();
+    double Prev_Theta2_Gear = Calc_Prev_Theta2_Gear ();
     CalcXY();
     double Dia1 = CalcDia1 (x, y);
     double Dia2 = CalcDia2 (x, y);
     CalcTheta1 (Dia1);
     CalcTheta2 (Dia2);
-    AngleLimits (Theta1Gear, Theta2Gear, Prev_x, Prev_y);       // laatste check
-    // hier mag je de motor gaan aansturen
-    //scope.send();
+    AngleLimits (Prev_Theta1_Gear, Prev_Theta2_Gear, Prev_x, Prev_y);       // laatste check
 }
 
 void Set_Mode()