Diff: PROJECT_main.cpp

Revision:

13:05697c9b13d7

Parent:

12:b09b7fe5550c

--- a/PROJECT_main.cpp	Mon Nov 03 22:47:59 2014 +0000
+++ b/PROJECT_main.cpp	Mon Nov 03 23:11:53 2014 +0000
@@ -524,20 +524,15 @@
 
     /* Vanaf hier komt de aansturing van de motor */
 
-
-// FORMAT_CODE_START
     setpoint1=0;
     setpoint2=0;
     integral1 = integral = 0;
     previouserror1 = previouserror = 0;
 
-
     while(1) {      // loop voor het goed plaatsen van motor2 (batje hoek)
         while(!looptimerflag);
         looptimerflag = false; //clear flag
       
-// FORMAT_CODE_START
-
             scope.set(0, motor2.getPosition()*omrekenfactor2);
             scope.set(1, setpoint2);
             scope.set(2, motor1.getPosition()*omrekenfactor1);
@@ -630,7 +625,7 @@
             derivative1 = (controlerror1 - previouserror1)/TSAMP;
             pwm1 = Kp1*controlerror1 + Ki1*integral1 + Kd1*derivative1;
             previouserror1 = controlerror1;
-
+            scope.set(5,pwm1);
             keep_in_range(&pwm1, -1,1);
             pwm_motor1.write(fabs(pwm1));
             if(pwm1 > 0) {
@@ -639,7 +634,6 @@
                 motor1dir = 0;
             }
 
-
             //regelaar motor2, bepaalt positie
             controlerror = setpoint2 - (motor2.getPosition()*omrekenfactor2);
             integral = integral + (controlerror*TSAMP);
@@ -778,4 +772,4 @@
                     goto motor1cal;
                 }
             }*/
-    } // end main
\ No newline at end of file
+} // end main
\ No newline at end of file