control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
Diff: actuators.cpp
- Revision:
- 48:3cf1eaf34926
- Parent:
- 46:a00cc8a751f5
- Child:
- 50:b0cf07ca53cf
diff -r e493567999d7 -r 3cf1eaf34926 actuators.cpp --- a/actuators.cpp Thu Oct 08 15:24:12 2015 +0200 +++ b/actuators.cpp Thu Oct 08 15:29:48 2015 +0200 @@ -34,7 +34,7 @@ float Ki2 = 0; float Kd2 = 0; - float PIDinterval = 0.01; + float PIDinterval = 0.1; float prevMotor2Pos = 0; float prevMotor1Pos = 0; @@ -92,7 +92,6 @@ void motorControl(){ - if(motorsEnable){ // only run motors if switch is enabled // get encoder positions in degrees // 131.25:1 gear ratio // getPosition uses X2 configuration, so 32 counts per revolution @@ -111,9 +110,10 @@ // calculate motor setpoint speed in deg/sec from setpoint x/y speed + + if(motorsEnable){ // only run motors if switch is enabled // compute new PID parameters using setpoint angle speeds and encoder speed writeMotors(); - }else{ // write 0 to motors motor1.write(0);