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Dependencies: biquadFilter mbed MODSERIAL
Diff: main.cpp
- Revision:
- 5:1319d1e1a472
- Parent:
- 4:9e18e041f7a0
- Child:
- 6:075b5c7c6220
--- a/main.cpp Thu Nov 02 13:37:30 2017 +0000 +++ b/main.cpp Thu Nov 02 14:57:25 2017 +0000 @@ -308,6 +308,15 @@ float countzo; float countzb; float countzr; +int reference_o; +int position_o; +int error_o; +int reference_b; +int position_b; +int error_b; +int reference_r; +int position_r; +int error_r; float hcounto; float dcounto; @@ -352,12 +361,12 @@ void MotorController1() { - int reference_o = (int) (counto-hcounto); - int position_o = Encoder1.getPulses(); + reference_o = (int) (counto-hcounto); + position_o = Encoder1.getPulses(); - int error_o = reference_o - position_o; + 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; @@ -383,10 +392,10 @@ void MotorController2() { - int reference_b = (int) (-(countb-hcountb)); - int position_b = Encoder2.getPulses(); + reference_b = (int) (-(countb-hcountb)); + position_b = Encoder2.getPulses(); - int error_b = reference_b - position_b; + error_b = reference_b - position_b; //pc.printf("Position_b = %i reference_b=%i Error_b=%i " ,position_b,reference_b,error_b); @@ -412,10 +421,10 @@ void MotorController3() { - int reference_r = (int) (-(countr-hcountr)); - int position_r = Encoder3.getPulses(); + reference_r = (int) (-(countr-hcountr)); + position_r = Encoder3.getPulses(); - int error_r = reference_r - position_r; + 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); @@ -535,11 +544,14 @@ countzo=rotzo*4200; countzb=rotzb*4200; countzr=rotzr*4200; - counto=countzo+hcounto; //+ gemaakt van een min - countb=countzb+hcountb; - countr=countzr+hcountr; + counto=countzo+hcounto+reference_o; //+ gemaakt van een min + countb=countzb+hcountb+reference_b; + countr=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); } }