Diff: main.cpp

Revision:

17:767cacdd0b1d

Parent:

16:4bfcc154bba0

--- a/main.cpp	Fri Nov 03 01:14:58 2017 +0000
+++ b/main.cpp	Fri Nov 03 10:29:05 2017 +0000
@@ -17,7 +17,7 @@
 MODSERIAL pc(USBTX,USBRX);
 
 float PwmPeriod = 1.0/5000.0;           //set up of PWM periode (5000 Hz, want 5000 periodes in 1 seconde)
-const float Ts = 0.1;                   // tickettijd/ sample time
+const float Ts = 0.02;                   // tickettijd/ sample time
 float e_prev = 0; 
 float e_int = 0;
 
@@ -105,6 +105,7 @@
     }
     else {                               //de y-waarde van de setpoint verandert niet
         }
+        //pc.printf("potmeter1 = %f, potmeter2 = %f \r\n", potMeter1.read(), potMeter2.read());
 }
 
 float GetReferencePosition() 
@@ -219,6 +220,7 @@
 
 void MeasureAndControl(void)
 {
+    pc.printf("pot1 = %f, pot2 = %f, Rsx = %f, Rsy = %f \r\n", potMeter1.read(), potMeter2.read(), Rsx, Rsy);
     SetpointRobot(); 
     // RKI aanroepen
     RKI();