Using HIDScope for P(I)D controller
Dependencies: FastPWM HIDScope MODSERIAL QEI biquadFilter mbed
Fork of PES_tutorial_5 by
Diff: main.cpp
- Revision:
- 7:3b503177ff5c
- Parent:
- 6:bd73804c8cec
- Child:
- 8:ceb9abb5a4a8
diff -r bd73804c8cec -r 3b503177ff5c main.cpp --- a/main.cpp Mon Oct 15 10:20:24 2018 +0000 +++ b/main.cpp Mon Oct 15 10:37:27 2018 +0000 @@ -15,7 +15,6 @@ // Aflezen Potentiometers voor PWM motor1_pwm = pot1.read(); // Aflezen PotMeter 1 (volatile omdat je altijd de potmeter wil blijven lezen) pc.printf("%i\r\n", Encoder.getPulses()); - } void buttonpress() @@ -26,26 +25,6 @@ pc.printf("Velocity is %f \r\n", motor1_velocity); } -/*double GetReferenceVelocity() -{ - // Returns reference velocity in rad/s. - // Positive value means clockwise rotation. - // 60 rpm = 60*2*pi/60 = 6.28 ~ 6.2 rad/s - const float maxVelocity = 6.2; // in rad/s of course! - double referenceVelocity; // in rad/s - if (button2) { - // Clockwise rotation - referenceVelocity = potMeterIn * maxVelocity; - } - else - { - // Counterclockwise rotation - referenceVelocity = -1*potMeterIn * maxVelocity; - } - return referenceVelocity; -} */ - - int main() { pc.baud(115200);