Diff: main.cpp

Revision:

17:1246d6b0c5d0

Parent:

16:0a0b1c3be4d0

Child:

18:b42a884bca02

--- a/main.cpp	Thu Nov 02 23:19:18 2017 +0000
+++ b/main.cpp	Thu Nov 02 23:36:43 2017 +0000
@@ -24,8 +24,8 @@
 double Tijd = 1;           //Timestep value
 double Rsx = 0.38;       //Reference x-component of the setpoint radius
 double Rsy = 0.30;       //Reference y-component of the setpoint radius
-double Motor1Set = 0;      //Reference position motor 1
-double Motor2Set = 0.5*pi; //Reference position motor 2
+double refP = 0;      //Reference position motor 1
+double refP2 = 0.5*pi; //Reference position motor 2
 double Rex = cos(q1)*L1 - sin(q2)*L2;   //The x-component of the end-effector radius 
 double Rey = sin(q1)*L1 + cos(q2)*L2;   //The y-component of the end-effector radius
 double R1x = 0;                         //The x-component of the joint 1 radius
@@ -48,7 +48,7 @@
 float e_int = 0;
 
 //tweede motor
-AnalogIn potmeter1(A2);
+AnalogIn potMeter1(A2);
 PwmOut M2E(D5);
 DigitalOut M2D(D4);
 Encoder motor2(D9,D8,true);
@@ -84,6 +84,9 @@
 
 void SetpointRobot()
 {    
+    double Potmeterwaarde2 = potMeter2.read();
+    double Potmeterwaarde1 = potMeter1.read();
+    
     if  (Potmeterwaarde2>0.6) {
         Rsx += 0.001;                    //het gaat telkens 1 mm verder wanneer de potmeter boven de 0.6 staat
     }