verslag
Dependencies: Encoder HIDScope MODSERIAL- mbed-dsp mbed
Fork of PROJECT_FINAL by
Diff: PROJECT_main.cpp
- Revision:
- 17:7641d7934b91
- Parent:
- 16:a0a39512bd47
- Child:
- 18:5467bcc5cbf5
--- a/PROJECT_main.cpp Tue Nov 04 08:05:21 2014 +0000 +++ b/PROJECT_main.cpp Tue Nov 04 08:34:08 2014 +0000 @@ -119,7 +119,7 @@ float setpoint1 = 0; //te behalen speed van motor1 (37D) float setpoint2 = 0; //te behalen hoek van motor2 (25D) -float Kp1 = 12.0; //DEZE KP1 EN KP1 ZIJN NOG NIET DEFINITIEF +float Kp1 = 1.2; //DEZE KP1 EN KP1 ZIJN NOG NIET DEFINITIEF float Ki1 = 0.0; //Kp en Ki van motor1, voor de slag float Kd1 = 0.0; @@ -565,8 +565,7 @@ }*/ break; } - case 2: { - setpoint1 = 0; + case 2: { count++; if(count>1000) { count = 0; @@ -577,7 +576,7 @@ case 3: { switch (force) { case 1: - setpoint1 += 2*TSAMP; //6.8*TSAMP; + setpoint1 += 2.5*TSAMP; //6.8*TSAMP; break; case 2: setpoint1 += 0.4*TSAMP; //7.4*TSAMP;