Diff: main.cpp

Revision:

2:302174acdac7

Parent:

0:c205dc094877

Child:

3:e40763e01a80

diff -r f5b413a833d5 -r 302174acdac7 main.cpp
--- a/main.cpp	Thu Oct 23 12:01:26 2014 +0000
+++ b/main.cpp	Thu Oct 23 12:05:16 2014 +0000
@@ -21,19 +21,22 @@
     pwm_motor2.period_us(100); //10kHz PWM frequency
 
 
-    integral1 = 0;
-    setpoint1 = 9.5;
-    dt1 = 0.01;
-    Kp1 = 0.01;
-    Ki1 = 0.01;
+    float integral1 = 0;
+    float setpoint1 = 9.5;
+    float dt1 = 0.01;
+    float Kp1 = 0.01;
+    float Ki1 = 0.01;
+    float error1 = 0;
+    float output1 = 0;
+    
     while(1) {
 start:
-        error1 = setpoint1 - motor1.getposition/(4480*6.28)/dt1; //motorpositie omgerekend naar rad/s
+        float error1 = setpoint1 - motor1.getPosition/(4480*6.28)/dt1; //motorpositie omgerekend naar rad/s
         integral1 = integral1 + error1*dt1;
         output1 = Kp1*error1 + Ki1*integral1;
-        pwm_motor1.write(abs(output1);
+        pwm_motor1.write(abs(output1));
                          wait(dt1)
-                         goto start
+                         goto start;
 
         if(new_pwm > 0) {
         motor1dir = 0;
@@ -41,9 +44,9 @@
         motor1dir = 1;
     }
 
-    scope.set(0, new_pwm);
+    scope.set(0, output1);
     scope.set(1, motor1.getPosition());
-    scope.set(2, motor1.getposition()/(4480*6.28)/dt1);
+    scope.set(2, motor1.getPosition()/(4480*6.28)/dt1);
     scope.send();
 }
 }
\ No newline at end of file