P-controller geordend
Dependencies: Encoder HIDScope MODSERIAL mbed
Diff: main.cpp
- Revision:
- 17:1246d6b0c5d0
- Parent:
- 16:0a0b1c3be4d0
- Child:
- 18:b42a884bca02
diff -r 0a0b1c3be4d0 -r 1246d6b0c5d0 main.cpp --- 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 }