Diff: main.cpp

Revision:

14:8aa57a7c5b30

Parent:

13:41fc5b6262c0

Child:

15:75070aedf4b7

diff -r 41fc5b6262c0 -r 8aa57a7c5b30 main.cpp
--- a/main.cpp	Tue Oct 29 21:33:42 2019 +0000
+++ b/main.cpp	Wed Oct 30 12:52:26 2019 +0000
@@ -22,7 +22,7 @@
 DigitalIn encB2(D13);
 QEI encoder1(D9,D8,NC,64,QEI::X4_ENCODING);     //Encoding motor 1
 QEI encoder2(D13,D12,NC,64,QEI::X4_ENCODING);   //Encoding motor 2
-float Ts = 0.01;                                //Sample time
+float Ts = 0.002;                                //Sample time
 float deg2rad=0.0174532;                        //Conversion factor degree to rad
 float rad2deg=57.29578;                         //Conversion factor rad to degree
 float motor1angle=(-140.0-10.0)*deg2rad*5.5;    //Measured angle motor 1
@@ -105,7 +105,7 @@
 Ticker scopeTicker;
 Ticker tickGlobal;      //Global ticker
 
-const float PWM_period = 1e-6;
+const float PWM_period = 1/(18*10e3);
 
 volatile int counts1; // Encoder counts
 volatile int counts2;
@@ -309,7 +309,8 @@
     if ( motor_state_changed == true ) {
         motor_state_changed = false;
         // More functions
-    }
+        }
+        
      motor_RKI=true;
     // Do nothing until end condition is met 
     
@@ -330,8 +331,9 @@
         // More functions
     }    
     static float t=0;
-    Vx=6.0f*sin(1.0f*t);
+    Vx=10.0f*sin(1.0f*t);
     Vy=0.0f;
+    
     t+=Ts;
    
 if ( button2_pressed ) {   
@@ -397,6 +399,7 @@
             pc.printf("counts2offset %i counts2af: %i counts2: %i\r\n",counts2offset,counts2af,counts2);
             pc.printf("state: %i motor1ref: %f motor1angle: %f\r\n",motor_curr_state,motor1ref,motor1angle);
             pc.printf("q1: %f q2: %f motor1error: %f \r\n",q1*rad2deg,q2*rad2deg, motor1error);
+            pc.printf("Xe: %f Ye: %f\r\n",xe,ye);
             
         wait(0.5);
     }