Diff: main.cpp

Revision:

3:4c93be3a9010

Parent:

2:b2ccd9f044bb

Child:

4:be465e9a12cb

--- a/main.cpp	Thu Sep 24 11:20:14 2015 +0000
+++ b/main.cpp	Thu Sep 24 11:25:06 2015 +0000
@@ -25,6 +25,7 @@
 DigitalOut leftDirection(D4);
 QEI leftQei(D12, D13, NC, 624);
 PID leftController(Kc, Ti, Td, RATE);
+AnalogIn pot1(A0);
 //-------
 // Files
 //-------
@@ -43,6 +44,7 @@
 volatile float leftVelocity = 0.0;
 //Velocity to reach.
 int goal = 3000;
+float measure;
 
 //****************************************************************************/
 // Prototypes
@@ -82,11 +84,13 @@
     endTimer.start();
 
     //Set velocity set point.
-    leftController.setSetPoint(goal);
+    
     leftMotor.period_ms(0.1);
     
     //Run for 3 seconds.
-    while (endTimer.read() < 3.0){
+    while (endTimer.read() < 10){
+        measure = pot1.read()*10000;
+        leftController.setSetPoint(measure);
         leftPulses = leftQei.getPulses();
         leftVelocity = (leftPulses - leftPrevPulses) / RATE;
         leftPrevPulses = leftPulses;