Dammenisvoorcasuals / Mbed 2 deprecated chessRobot

control for robotic arm that can play chess using a granular gripper

Dependencies:   Encoder mbed HIDScope Servo MODSERIAL

Fork of chessRobot by a steenbeek

Diff: actuators.cpp

Revision:
51:1e6334b993a3
Parent:
50:b0cf07ca53cf
Child:
52:2ac9dee099ce
--- a/actuators.cpp	Fri Oct 09 10:49:56 2015 +0200
+++ b/actuators.cpp	Fri Oct 09 13:32:29 2015 +0200
@@ -69,11 +69,11 @@
     motor1.period(1/pwm_frequency);
     motor2.period(1/pwm_frequency);
 
-    PIDmotor1.setSetPoint(motorSetSpeed1);
-    PIDmotor2.setSetPoint(motorSetSpeed2);
+    PIDmotor1.setSetPoint(&abs(motorSetSpeed1));
+    PIDmotor2.setSetPoint(&abs(motorSetSpeed2));
 
-    PIDmotor1.setProcessValue(motorSpeed1);
-    PIDmotor2.setProcessValue(motorSpeed2);
+    PIDmotor1.setProcessValue(&abs(motorSpeed1));
+    PIDmotor2.setProcessValue(&abs(motorSpeed2));
 
     // set limits for PID output to avoid integrator build up.
     PIDmotor1.setInputLimits(0, 300);
@@ -122,11 +122,11 @@
 }
 
 void writeMotors(){
-    PIDmotor1.setSetPoint(abs(motorSetSpeed1));
-    PIDmotor2.setSetPoint(abs(motorSetSpeed2));
+    // PIDmotor1.setSetPoint(abs(motorSetSpeed1));
+    // PIDmotor2.setSetPoint(abs(motorSetSpeed2));
 
-    PIDmotor1.setProcessValue(abs(motorSpeed1));
-    PIDmotor2.setProcessValue(abs(motorSpeed2));
+    // PIDmotor1.setProcessValue(abs(motorSpeed1));
+    // PIDmotor2.setProcessValue(abs(motorSpeed2));
 
     motorPWM1 = PIDmotor1.compute();
     motorPWM2 = PIDmotor2.compute();