Friso van den Boom / Mbed 2 deprecated PIDtest

Test to control motors

Dependencies:   HIDScope_friso MODSERIAL QEI mbed

Diff: main.cpp

Revision:
3:62e950f20604
Parent:
2:8fb37a4587f1
Child:
4:f6ca4f7793bd
--- a/main.cpp	Mon Oct 24 08:25:58 2016 +0000
+++ b/main.cpp	Mon Oct 24 08:36:05 2016 +0000
@@ -47,6 +47,8 @@
 
 void controlmotor()    { //set motor speed
     angleerror = referenceangle-angle;
+    if (angleerror < 0) motor1_direction = 1;
+    if (angleerror > 0) motor1_direction = 0;
     potmeter = potmeter1.read();
     referencevelocity = potmeter*max_velocity;
     motor1_pwm.pulsewidth(referencevelocity/max_velocity*0.020);
@@ -54,7 +56,7 @@
 
 void calculateangle()   { //calculate the angle of the axis based on counts
     if (counts == 0) angle = 0;
-    else angle = counts/countspr*2*pi;
+    else angle = -counts/countspr*2*pi;
 }
 
 void derivative()   { //calculate velocity based on derivative