Diff: main.cpp

Revision:

6:1c0b6e55e900

Parent:

5:17aa878564d0

Child:

7:20a802dfe664

--- a/main.cpp	Fri Oct 11 12:22:26 2019 +0000
+++ b/main.cpp	Fri Oct 11 12:33:42 2019 +0000
@@ -5,11 +5,11 @@
 #include "BiQuad.h"
 #include "FastPWM.h"
 
-// Button and potmeter control
+// Button and potmeter1 control
 InterruptIn button1(D11);
 InterruptIn button2(D10);
-AnalogIn potmeter(A0);
-
+AnalogIn potmeter1(A0);
+AnalogIn potmeter2(A1);
 // Encoder
 DigitalIn encA(D13);
 DigitalIn encB(D12);
@@ -35,7 +35,7 @@
 double potValue;
 double pi2= 6.283185;
 float e; //e = error
-float Kp=17.5;
+float Kp;
 float Ki=1;
 float Kd=21.5;
 float u_k;
@@ -70,6 +70,7 @@
     static BiQuad LowPassFilter(0.0640,0.1279,0.0640,-1.1683,0.4241);
     
     //Proportional part:
+    Kp=20*potmeter2.read();
     u_k=Kp*e;
     
     //Integral part
@@ -98,7 +99,7 @@
 {
     angle = counts * factorin / gearratio; // Angle of motor shaft in rad
     omega = deltaCounts / Ts * factorin / gearratio; // Angular velocity of motor shaft in rad/s
-    potValue= potmeter.read();
+    potValue= potmeter1.read();
     u1= (potValue*2*pi2)-pi2;
     e=u1-angle;
     
@@ -140,11 +141,12 @@
     button2.fall(&toggleMotor);
     while (true) {
 
-        pc.printf("Potmeter: %d \r\n", potValue);
+        pc.printf("Potmeter: %d Kp: %f\r\n", potValue,Kp);
         pc.printf("Counts: %i   DeltaCounts: %i\r\n", counts, deltaCounts);
         pc.printf("Angle:  %f   Omega:       %f\r\n", angle, omega);
         pc.printf("U1: %f   Error:  %f     \r\n",u1, e);
         
+        
         wait(0.5);
     }
 }