Diff: main.cpp

Revision:

1:3befbf3f2f2b

Parent:

0:890eb2d5097f

--- a/main.cpp	Thu Sep 19 13:02:52 2019 +0000
+++ b/main.cpp	Thu Sep 19 16:28:07 2019 +0000
@@ -25,10 +25,10 @@
 
 void isr(){
     timec += 0.1;
-    sensor = (double)((gyro.read() * 3.3)-1.35) / (0.67 * 1000.0);
-    //sensor = gyro.read() * 3.3;
+    //sensor = (double)((gyro.read() * 3.3)-1.35) / (0.67 * 1000.0);
+    sensor = 180;
     bdeg = sensor; 
-    deg +=  (double)(sensor *0.1);
+    deg += (double)(sensor * 0.1);
 
     motor = 10 * (0 - deg) - Kd * sensor;
     if(motor < 0){
@@ -60,10 +60,9 @@
         speed();
         wait(0.1);
         test_led = 1;
-        printf("A:%lf\n",deg);
-        printf("B:%lf\n",unti);
-        printf("c:%lf\n",motor);
-        printf("G:%f\n",((gyro.read()* 3.3)-1.42)/(0.67/1000));
-        printf("time:%f\n",timec);
+        printf("deg  :%lf\n",deg);
+        printf("moter:%lf\n",motor);
+        printf("deg/s:%f\n",((gyro.read()* 3.3)-1.42)/(0.67/1000));
+        //printf("time:%f\n",timec);
     }
 }
\ No newline at end of file