Jasper Gerth / Mbed 2 deprecated P-control

P controller to make the motor follow pot1

Dependencies:   HIDScope MODSERIAL QEI mbed

Files at this revision

API Documentation at this revision

Revision 8:b30e7b255e97, committed 2015-09-24

Comitter:
Gerth
Date:
Thu Sep 24 16:28:56 2015 +0000
Parent:
7:1d276d663e1e
Commit message:
works; controller values need to be tuned;

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 1d276d663e1e -r b30e7b255e97 main.cpp
--- a/main.cpp	Thu Sep 24 10:47:35 2015 +0000
+++ b/main.cpp	Thu Sep 24 16:28:56 2015 +0000
@@ -9,7 +9,7 @@
 QEI encoder1 (D12,D13,NC,32); // first b then a for clockwise +
 
 //ingangen
-AnalogIn pot1(A0);
+AnalogIn pot1(A2);
 
 //uitgangen
 DigitalOut motor1_direction(D7);// draairichting motor 1 (1 is CW encoder als je daar op kijkt en CW shaft als je daar op kijkt)
@@ -52,9 +52,9 @@
 //scopedata
 void scopedata()
 {
-    scope.set(0,2*PI*pot1.read());
-    scope.set(1,counttorad*encoder1.getPulses());
-    scope.set(2,motor1_speed_control.read());
+    scope.set(0,2*PI*pot1.read());//gewenste hoek in rad van potmeter
+    scope.set(1,counttorad*encoder1.getPulses());//hoek in rad van outputshaft
+    scope.set(2,motor1_speed_control.read());//pwm signaal naar motor toe
     scope.send();
 }