Diff: main.cpp

Revision:

2:8619b626ef7d

Parent:

1:0b6d558a5431

Child:

3:aef2dcb63762

--- a/main.cpp	Tue Nov 23 12:54:08 2021 +0000
+++ b/main.cpp	Fri Dec 10 04:03:14 2021 +0000
@@ -5,12 +5,13 @@
 
 #define PI 3.14159265358979f
 
-#define MOTOR1_FORWARD  PC_1
-#define MOTOR1_REVERSE  PC_0
+#define MOTOR2_FORWARD  PA_13
+#define MOTOR2_REVERSE  PA_14
+#define MOTOR2_PWM      PA_15
+
+#define MOTOR1_FORWARD  PC_0
+#define MOTOR1_REVERSE  PC_1
 #define MOTOR1_PWM      PB_0
-#define MOTOR2_FORWARD  PC_15
-#define MOTOR2_REVERSE  PC_14
-#define MOTOR2_PWM      PB_1
 
 #define PULSE_ENCODER 84
 
@@ -39,8 +40,8 @@
 Motor motor1 (MOTOR1_PWM, MOTOR1_FORWARD, MOTOR1_REVERSE);
 Motor motor2 (MOTOR2_PWM, MOTOR2_FORWARD, MOTOR2_REVERSE);
 
-encoderKRAI encoder1 (ENCODER1_CHANNEL_A, ENCODER1_CHANNEL_B, PULSE_ENCODER, encoderKRAI::X4_ENCODING);
-encoderKRAI encoder2 (ENCODER2_CHANNEL_A, ENCODER2_CHANNEL_B, PULSE_ENCODER, encoderKRAI::X4_ENCODING);
+encoderKRAI encoder2 (ENCODER1_CHANNEL_A, ENCODER1_CHANNEL_B, PULSE_ENCODER, encoderKRAI::X4_ENCODING);
+encoderKRAI encoder1 (ENCODER2_CHANNEL_A, ENCODER2_CHANNEL_B, PULSE_ENCODER, encoderKRAI::X4_ENCODING);
 
 pidLo pid_motor1(a_kp, a_ki, 0, a_TS, 1, 0, 1000, 100);
 pidLo pid_motor2(b_kp, b_ki, 0, b_TS, 1, 0, 1000, 100);
@@ -57,8 +58,12 @@
 uint32_t sampling_time = 0;
 uint32_t sampling_debug = 0;
 
+float pengali = 1.0;
+
 int main() {
     while(1) {
+        motor1.speed(pengali*1.00);
+        motor2.speed(pengali*0.980);
         if (us_ticker_read()-sampling_time >= ENC_MOTOR_SAMP_US) {
             pulse1 = encoder1.getPulses();
             pulse2 = encoder2.getPulses();
@@ -76,14 +81,14 @@
             sampling_debug = us_ticker_read();
         }
         
-        if(us_ticker_read()-sampling_debug >= PID_SAMP_US){
-            //a_pwm = pid_motor1.createpwm(v1_target, v1_curr, 1.0);
-//            b_pwm = pid_motor1.createpwm(v1_target, v1_curr, 1.0);
-        }
-        
-        if(us_ticker_read()-sampling_debug >= MOTOR_SAMP_US){
-          //  motor.speeda_pwm = pid_motor1.createpwm(v1_target, v1_curr, 1.0);
-//            b_pwm = pid_motor1.createpwm(v1_target, v1_curr, 1.0);
-        }
+       // if(us_ticker_read()-sampling_debug >= PID_SAMP_US){
+//           // a_pwm = pid_motor1.createpwm(v1_target, v1_curr, 1.0);
+////            b_pwm = pid_motor1.createpwm(v1_target, v1_curr, 1.0);
+//        }
+//        
+//        if(us_ticker_read()-sampling_debug >= MOTOR_SAMP_US){
+////            motor.speeda_pwm = pid_motor1.createpwm(v1_target, v1_curr, 1.0);
+////            b_pwm = pid_motor1.createpwm(v1_target, v1_curr, 1.0);
+//        }
     }
 }