Diff: main.cpp

Revision:

1:accc8b66773b

Parent:

0:f439078cfdde

Child:

2:89d69eae8917

--- a/main.cpp	Wed Oct 12 10:56:42 2016 +0000
+++ b/main.cpp	Sat Oct 15 15:26:00 2016 +0000
@@ -25,7 +25,7 @@
     float D, Kd;
 
     // Variabel Sabeb
-    int desired_rpm = 450;
+    int desired_rpm = 150;
     
     // Test Variabel
     int selisiherror;
@@ -43,7 +43,7 @@
     last_errorD = 0;
     pwm_last = 0;
     Kp = 0.000000007;
-    Kd = 0.00007;
+    Kd = 0.000000000007;
     
     while(1){
     
@@ -67,10 +67,12 @@
     
     if (currentMillis-previousMillis==500)
     {
-       previousMillis = currentMillis;
-       rpm = encoder0Pos;
-       pc.printf ("pwm = %.5f | rpm = %.0f | P = %.10f | D = %.10f | errorP = %.d | last_errorD = %.d \n",pwm,rpm,P,D, errorP, last_errorD);
-       encoder0Pos = 0;
+        previousMillis = currentMillis;
+        rpm = encoder0Pos;
+        pc.printf ("pwm = %.5f | rpm = %.0f | P = %.10f | D = %.10f | errorP = %.d | last_errorD = %.d \n",pwm,rpm,P,D, errorP, last_errorD);
+        encoder0Pos = 0;
+           
+        last_errorD = errorP;
     }
 
     else
@@ -88,7 +90,5 @@
         }
         encoder0PinALast = n;
     }
-    
-    last_errorD = errorP;
  }
  }
\ No newline at end of file