Cornelius Bezuidenhout / Mbed OS Heiko

My final year project

Dependencies:   BSP_DISCO_F746NG F746_GUI LCD_DISCO_F746NG SDFileSystem TS_DISCO_F746NG ResistiveTouchController Map CYS8218Controller MedianFilter

Diff: main.cpp

Revision:
61:d16e5ad857ba
Parent:
60:b6352a55d850
Child:
62:58e846621435
--- a/main.cpp	Wed Oct 19 20:07:26 2016 +0000
+++ b/main.cpp	Wed Oct 19 22:13:09 2016 +0200
@@ -45,9 +45,9 @@
 
 
 //-- Controller Variables
-float P = 0;
+float P = 0.1;
 float I = 0;
-float D = 0;
+float D = 10;
 float Ts = 0.004;
 Timer cycleTimer;
 //-----------------------
@@ -106,8 +106,9 @@
         Automatic();
         break;
       default :
-        xMotor.Off();
-        yMotor.Off();
+        xMotor.Set(0);
+        yMotor.Set(0);
+        Thread::wait(20);
         break;
     }
   }
@@ -257,6 +258,11 @@
     xMotor.Set(alpha);
     yMotor.Set(-beta);
 
+    if( Ts > 0)
+      Ts /= 1000;
+
+    while( cycleTimer.read() > Ts);
+
     cycleTimer.stop();
     measuredTs = cycleTimer.read_ms();
     cycleTimer.reset();