Guillaume Chauvon
/
Asservissment_robot2_v16_05
l
Diff: hardware.cpp
- Revision:
- 7:6b15a1feed2d
- Parent:
- 5:3638d7e7c5c1
diff -r e1585b8bd07d -r 6b15a1feed2d hardware.cpp --- a/hardware.cpp Fri May 24 21:45:17 2019 +0000 +++ b/hardware.cpp Sun May 26 14:57:54 2019 +0000 @@ -24,10 +24,10 @@ 1500.0, /* Motor maximum speed [step/s]. */ 0.0, /* Motor minimum speed [step/s]. */ 602.7, /* Motor full-step speed threshold [step/s]. */ - 3.06, /* Holding kval [V]. */ - 3.06, /* Constant speed kval [V]. */ - 3.06, /* Acceleration starting kval [V]. */ - 3.06, /* Deceleration starting kval [V]. */ + 4.06, /* Holding kval [V]. */ + 4.06, /* Constant speed kval [V]. */ + 4.06, /* Acceleration starting kval [V]. */ + 4.06, /* Deceleration starting kval [V]. */ 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */ 392.1569e-6, /* Start slope [s/step]. */ 643.1372e-6, /* Acceleration final slope [s/step]. */ @@ -52,10 +52,10 @@ 1500.0, /* Motor maximum speed [step/s]. */ 0.0, /* Motor minimum speed [step/s]. */ 602.7, /* Motor full-step speed threshold [step/s]. */ - 3.06, /* Holding kval [V]. */ - 3.06, /* Constant speed kval [V]. */ - 3.06, /* Acceleration starting kval [V]. */ - 3.06, /* Deceleration starting kval [V]. */ + 4.06, /* Holding kval [V]. */ + 4.06, /* Constant speed kval [V]. */ + 4.06, /* Acceleration starting kval [V]. */ + 4.06, /* Deceleration starting kval [V]. */ 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */ 392.1569e-6, /* Start slope [s/step]. */ 643.1372e-6, /* Acceleration final slope [s/step]. */ @@ -109,6 +109,9 @@ ENCBL.fall(&updateEncoderB); ENCBJ.rise(&updateEncoderB); ENCBJ.fall(&updateEncoderB); + + encoderValueA = 0; + encoderValueB = 0; }