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Dependencies: Encoder FastPWM MODSERIAL Servo mbed
Fork of Angle_control_v3 by
Diff: main.cpp
- Revision:
- 1:5681fcdc22fe
- Parent:
- 0:bbd4e22aca8a
- Child:
- 2:47ec66bbe8f9
--- a/main.cpp Wed Oct 11 08:50:26 2017 +0000 +++ b/main.cpp Wed Oct 11 09:33:32 2017 +0000 @@ -68,25 +68,29 @@ double referenceangle2 = getreferenceangle(PI, potmeter2); double position2 = RAD_PER_PULSE * encoder2.getPosition(); double magnitude2 = PI_controller(referenceangle2-position2, MOTOR2_KP, MOTOR2_KI, CONTROLLER_TS, m2_err_int) / motor2_gain; - motor1 = fabs(magnitude2); + motor2 = fabs(magnitude2); if (magnitude2 < 0) { - motor1DirectionPin = 1; + motor2DirectionPin = 1; } else { - motor1DirectionPin = 0; + motor2DirectionPin = 0; } } int main() { - - while(1) - { - motor1_control(motor1_gain); - motor2_control(motor1_gain); + while(1) + { + motor1_control(motor1_gain); + wait(0.005f); + motor2_control(motor2_gain); + wait(0.005f); } + + + } \ No newline at end of file