update with altimeter, swimfile.txt endleg.txt, etc see changes_13sep.txt also reset_PI()
Dependencies: mbed MODSERIAL FATFileSystem
Diff: main.cpp
- Revision:
- 1:133216180125
- Parent:
- 0:ea293bbf9717
- Child:
- 2:892b58e56712
--- a/main.cpp Thu Apr 27 13:26:58 2017 +0000 +++ b/main.cpp Thu Apr 27 16:47:29 2017 +0000 @@ -23,7 +23,7 @@ float D = 0.00; char userInput; - bce().run(motor_cmd); + hBridge().run(motor_cmd); //set the intial gains for the position controller posCon().setPgain(P); @@ -39,7 +39,7 @@ //update the controller with the current numbers in the position guesser posCon().update(pvf().getPosition(), pvf().getVelocity(), pvf().getDt()) ; - bce().run(posCon().getOutput()); + hBridge().run(posCon().getOutput()); if (pc().readable()) { // get the key @@ -80,7 +80,7 @@ } if (userInput == ' '){ //reset the h-bridge - bce().reset(); + hBridge().reset(); } //if (userInput == ' ') { @@ -96,7 +96,7 @@ // motor_cmd = -1.0; //} // assign the shiny new commands to the pins - //bce().run(motor_cmd); + //hBridge().run(motor_cmd); if (userInput == '\r') { posCon().writeSetPoint(positionCmd); posCon().setPgain(P);