Revision 1:5c1051bb7958, committed 2016-03-15

Comitter:

openg

Date:

Tue Mar 15 21:44:34 2016 +0000

Parent:

0:87a63b2d26ef

Commit message:

first draft;

Changed in this revision

diff -r 87a63b2d26ef -r 5c1051bb7958 main.cpp
--- a/main.cpp	Tue Mar 15 21:18:47 2016 +0000
+++ b/main.cpp	Tue Mar 15 21:44:34 2016 +0000
@@ -13,19 +13,21 @@
 int PW = period/2;
 
 int outPeriod = period; //assume period always is the same
-int outPW;
+int outPW = outPeriod/2;
 
 float Ki = 0; //adjust
 float Kp = 30; //adjust
 
 Ticker Controller;
+int flag = 0;
 
 void Control(){
      error = ref - Sensor.read()*adjustmentFactor;
      totalError += error;
-     outPW = Kp*error + Ki*(totalError);
+     outPW = Kp*error + Ki*totalError;
      Output.period_us(outPeriod);
-     Output.pulsewidth_us(outPW);
+     Output.pulsewidth_us(int(outPW));
+     flag = 1;
  }
  
 int main() {
@@ -34,4 +36,11 @@
     Controller.attach_us(Control,period*128); //assumed that we should wait 128 clock cycles before activating controller
                                               //because line camera requires 128 cycles. should verify
 
+    while(1) {
+        if (flag) {
+             pc.printf("PW: %d \n\r",outPW);
+             flag = 0;
+        }
+    }
+
 }