Diff: GainControl.cpp

Revision:

1:d4c2e72540db

Parent:

0:8d7b6e55609a

Child:

2:eabcd6202bff

--- a/GainControl.cpp	Tue Mar 24 13:13:00 2015 +0000
+++ b/GainControl.cpp	Thu Mar 26 12:30:15 2015 +0000
@@ -11,32 +11,47 @@
 {
 int input_dc =50; 
 int user_direction = 0;
-float duty_cycle = 0.6; 
+float duty_cycle = 0.0; 
 int pulses = 0; 
 float theta = 0.0;  
 float time =0.0;
+float signed_duty_cycle = 0.0; 
+float Kp = 1;  
+
+float theta_ref = 3.14/4.0; 
 
 while(1)
     {
-    printf("Enter duty cycle, 0 to 100:\n"); 
-    scanf("%d", &input_dc); 
-    duty_cycle = input_dc/100.0;  
+    //printf("Enter duty cycle, 0 to 100:\n"); 
+    //scanf("%d", &input_dc); 
     
-    printf("%f duty cycle set. Enter 0 for CCW or 1 for CW spin direction:\n",duty_cycle); 
+    //signed_duty_cycle = Kp*(theta_ref - theta); 
+    //duty_cycle = input_dc/100.0;  
+    duty_cycle = signed_duty_cycle/100.0; 
+    
+    printf("\n %f duty cycle set. Enter 1 for CCW or 0 for CW spin direction:\n",duty_cycle); 
     scanf("%d", &user_direction); 
     
     printf("it's starting... move the thing!\n");
     t.start();
     turret_speed = duty_cycle; 
     turret_direction = user_direction; 
-    
-    pulses = myEncoder.getPulses(); 
-    theta = ((float)pulses/ (1600.0*2.0))*-2.0*3.14;
-    time = t.read(); 
+    printf("%f duty cycle. %d spin.\n", duty_cycle, user_direction); 
     
-    printf("time = %.5f;\n",time);
-    printf("theta = %.5f;\n",theta); 
-    printf("%f duty cycle. %d spin.\n", duty_cycle, user_direction); 
+    while(1)
+        {
+            wait(0.01); 
+            pulses = myEncoder.getPulses(); 
+            theta = ((float)pulses/ (1600.0*2.0))*-2.0*3.14;
+            time = t.read(); 
             
+            signed_duty_cycle = Kp*(theta_ref - theta); 
+            duty_cycle = signed_duty_cycle; 
+            turret_speed = duty_cycle; 
+                        
+            printf("time = %.5f;\n",time);
+            printf("theta = %.5f;\n",theta); 
+            printf("duty cyle= %f. \n", duty_cycle); 
+        }      
     }
 }
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