Friso van den Boom / Mbed 2 deprecated PIDtest

Test to control motors

Dependencies:   HIDScope_friso MODSERIAL QEI mbed

Diff: main.cpp

Revision:
4:f6ca4f7793bd
Parent:
3:62e950f20604
--- a/main.cpp	Mon Oct 24 08:36:05 2016 +0000
+++ b/main.cpp	Tue Oct 25 12:41:15 2016 +0000
@@ -51,7 +51,7 @@
     if (angleerror > 0) motor1_direction = 0;
     potmeter = potmeter1.read();
     referencevelocity = potmeter*max_velocity;
-    motor1_pwm.pulsewidth(referencevelocity/max_velocity*0.020);
+    motor1_pwm.pulsewidth(fabs(angleerror)*3*referencevelocity/max_velocity*0.020);
 }
 
 void calculateangle()   { //calculate the angle of the axis based on counts