Diff: main.cpp

Revision:

6:075b5c7c6220

Parent:

5:1319d1e1a472

Child:

7:9af8fe930b3c

--- a/main.cpp	Thu Nov 02 14:57:25 2017 +0000
+++ b/main.cpp	Thu Nov 02 17:13:34 2017 +0000
@@ -185,7 +185,7 @@
 }
  
 // Initial input value for couting the X-values                                                           
-int Xin=0;  
+int Xin=0   ;  
 int Xin_new;                                                                           
 float huidigetijdX;
  
@@ -366,7 +366,7 @@
     
              error_o = reference_o - position_o;
     
-    pc.printf("Position_o = %i          reference_o=%i              Error_o=%i\n\r" ,position_o,reference_o,error_o);
+    //pc.printf("Position_o = %i          reference_o=%i              Error_o=%i\n\r" ,position_o,reference_o,error_o);
     
     if (-20<error_o && error_o<20){
         motorValue1 = 0;
@@ -426,7 +426,7 @@
         
      error_r = reference_r - position_r;
     
-    //pc.printf("Position_r = %i          reference_r=%i              Error_r=%i\n\r" ,position_r,reference_r,error_r);
+    pc.printf("%i; %i; %i\n\r" ,position_b,reference_b,error_b);
     
     
     if (-20<error_r && error_r<20){
@@ -545,13 +545,13 @@
     countzb=rotzb*4200;
     countzr=rotzr*4200;
     counto=countzo+hcounto+reference_o; //+ gemaakt van een min
-    countb=countzb+hcountb+reference_b;
-    countr=countzr+hcountr+reference_r;
+    countb=-(reference_b-countzb-hcountb);//(countzb)+hcountb+reference_b;
+    countr=-(reference_r-countzr-hcountr);//(countzr)+hcountr+reference_r;
     
     pc.printf("dLod=%.2f         dLbd=%.2f       dLrd=%.2f\n\r",dLod,dLbd,dLrd);
-    pc.printf("hcounto=%.2f         hcountb=%.2f       hcountr=%.2f\n\r",hcounto,hcountb,hcountr);
-    pc.printf("o=%.2fb=%.2fr=%.2f",countzo,countzb,countzr);       // hier moet komen te staan hoe het zakken gaat
-    pc.printf("Position_o = %i          reference_o=%i              Error_o=%i\n\r" ,position_o,reference_o,error_o);
+    //pc.printf("hcounto=%.2f         hcountb=%.2f       hcountr=%.2f\n\r",hcounto,hcountb,hcountr);
+    pc.printf("o=%.2f  b=%.2f  countzr=%.2f",countzo,countzb,countzr);       // hier moet komen te staan hoe het zakken gaat
+    pc.printf("Position_r = %i;reference_r=%i              Error_r=%i\n\r" ,position_o,reference_o,error_o);
     }
 }