Diff: main.cpp

Revision:

6:f58052f57505

Parent:

5:8ae6d935a16a

Child:

7:e14e28d8cae3

--- a/main.cpp	Fri Sep 25 13:11:43 2015 +0000
+++ b/main.cpp	Fri Sep 25 13:41:59 2015 +0000
@@ -9,7 +9,7 @@
 // Defines
 //****************************************************************************/
 #define RATE  0.01
-#define Kc    0.1
+#define Kc    0.2
 #define Ti    0.0
 #define Td    0.0
 
@@ -78,7 +78,7 @@
 }
 
 int main() {
-    scopeTimer.attach_us(&scope, &HIDScope::send, 1e4);
+    //scopeTimer.attach_us(&scope, &HIDScope::send, 1e4);
     //Initialization.
     initializeMotors();
     initializePidControllers();
@@ -109,7 +109,7 @@
         scope.set(0, request);
         scope.set(1, leftPwmDuty);
         scope.set(2, leftVelocity);
-        
+        scope.send();
         pc.printf("request: %f, lefVelocity: %f, output: %f \n\r",request,leftVelocity,leftPwmDuty);
 
         //fprintf(fp, "%f,%f\n", leftVelocity, goal);