Diff: main.cpp

Revision:

1:570c0d599b9e

Parent:

0:5f4bc2d63814

Child:

2:7e5ca3715fb6

--- a/main.cpp	Thu Oct 19 19:42:08 2017 +0000
+++ b/main.cpp	Fri Oct 20 09:32:21 2017 +0000
@@ -14,7 +14,7 @@
 Ticker MyControllerTicker1;
 Ticker MyControllerTicker2;
 const double RAD_PER_PULSE = 0.00074799825*2;
-const float CONTROLLER_TS = 0.5;
+const float CONTROLLER_TS = 0.01;
 const double PI = 3.14159265358979323846;
 //------------------------------------------------------------------------------
 //------------------------------------------------------------------------------
@@ -53,7 +53,7 @@
 //------------------------------------------------------------------------------
 AnalogIn potmeter1(A3);
 AnalogIn potmeter2(A4);
-const float max_rangex = 300.0;
+const float max_rangex = 500.0;
 const float max_rangey = 300.0;
 const float x_offset = 156.15;
 const float y_offset = -76.97;
@@ -122,8 +122,8 @@
 DigitalIn ENC2A(D12);
 DigitalIn ENC2B(D13);
 Encoder encoder1(D13,D12);
-const float MOTOR1_KP = 20.0;
-const float MOTOR1_KI = 10.0;
+const float MOTOR1_KP = 50.0;
+const float MOTOR1_KI = 30.0;
 double m1_err_int = 0;
 const double motor1_gain = 2*PI;
 
@@ -138,7 +138,7 @@
     pc.printf("\r\n");
     
     
-    if (magnitude1 < 0){
+    if (magnitude1  < 0){
         motor1DirectionPin = 1;
     }
     else{
@@ -161,8 +161,8 @@
 DigitalIn ENC1A(D10);
 DigitalIn ENC1B(D11);
 Encoder encoder2(D10,D11);
-const float MOTOR2_KP = 20.0;
-const float MOTOR2_KI = 10.0;
+const float MOTOR2_KP = 50.0;
+const float MOTOR2_KI = 30.0;
 double m2_err_int = 0;
 const double motor2_gain = 2*PI;