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:
55:ee5257fb73df
Parent:
54:c14c3bc48b8a
Child:
60:20945383ad1b
--- a/actuators.cpp	Fri Oct 09 12:08:35 2015 +0000
+++ b/actuators.cpp	Fri Oct 09 12:59:00 2015 +0000
@@ -39,6 +39,7 @@
     float prevTime = 0;
     float now = 0;
     float timechange;
+    bool pidOut = 0;
 
     // Create object instances
     // Initialze motors
@@ -68,10 +69,13 @@
     // Set motor PWM period
     motor1.period(1/pwm_frequency);
     motor2.period(1/pwm_frequency);
-
+    
+    motor1PID.SetSampleTime(motorCall);
+    motor2PID.SetSampleTime(motorCall);
+    
     // Turn PID on
-    motor1PID.SetMode(1);
-    motor2PID.SetMode(1);
+    motor1PID.SetMode(AUTOMATIC);
+    motor2PID.SetMode(AUTOMATIC);
     
     // start the timer
     t.start();
@@ -111,7 +115,7 @@
 
 void writeMotors(){
     motor1PID.Compute(); // calculate PID outputs, output changes automatically
-    motor2PID.Compute();
+    pidOut = motor2PID.Compute();
 // write new values to motor's
     if (motor1PWM >= 0 ){ // CCW rotation 
         direction1 = false;