Diff: main.cpp

Revision:

10:54b66bd1db20

Parent:

9:6a065971d0ae

Child:

11:eda4fbf91948

--- a/main.cpp	Fri Oct 21 09:40:00 2016 +0000
+++ b/main.cpp	Fri Oct 21 10:27:04 2016 +0000
@@ -70,7 +70,7 @@
  // Next task, measure the error and apply the output to the plant
  void motor1_Controller(double radians)
  {
- double reference = -2*pi;
+ double reference = 2*pi;
  volatile double error1 = reference - radians;
 motor1 = P(error1,MOTOR1_KP) ;
 // scope.set(velocityChannel,proportionalErrormotor1);
@@ -78,7 +78,7 @@
  }
   
   
-void control(double proportionalErrormotor1)
+void control(double motor1)
 {
 if(abs(motor1)>0.3)
         {
@@ -97,26 +97,25 @@
         }
 }
 
-
- 
 //****************MAIN FUNCTION*********************************
 int main()
 {motor1MagnitudePin.period(1.0/1000.0);
 t1.attach(&fn1_activate, 0.1f);
 t2.attach(&fn2_activate, 0.0001f);
 t3.attach(&fn3_activate, 0.0001f);
-scope.set(velocityChannel, proportionalErrormotor1);
-scope.send();
-while(true){
+
+while(true)
+{
         if(fn1_go)
         {
         fn1_go = false;
-        control(proportionalErrormotor1);
+        control(motor1);
         }
         if(fn2_go)
         {
         fn2_go = false;
         motor1_Controller(radians);
+
         }
         if(fn3_go)
         {