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: buttons.cpp

Revision:
59:fe00be2cf8fd
Parent:
57:43f707648f2b
Child:
60:20945383ad1b
--- a/buttons.cpp	Mon Oct 12 11:52:47 2015 +0200
+++ b/buttons.cpp	Mon Oct 12 12:16:58 2015 +0200
@@ -26,6 +26,9 @@
 
 float pot1Val = 0;
 float pot2Val = 0;
+float Kp = 1;
+float Ki = 0;
+float Kd = 0;
 
 
 void checkSwitches(){
@@ -69,7 +72,7 @@
     	switch (PIDparam){  
         	case 0: 				// potmeters control P gain
         		redLed.write(0); greenLed.write(1); blueLed.write(1);
-        		float Kp = pot2.read();
+        		float Kp =3* pot2.read()+1;
         		break;
         	case 1:         		// potmeters control I gain
         		redLed.write(1); greenLed.write(0); blueLed.write(1);