Diff: main.cpp

Revision:

13:3ad20c09b5b4

Parent:

12:ea9afe159eb1

Child:

14:291f9a29bd74

--- a/main.cpp	Wed Nov 01 11:41:12 2017 +0000
+++ b/main.cpp	Wed Nov 01 11:48:57 2017 +0000
@@ -349,7 +349,7 @@
 Ticker          controlmotor3; // één ticker van maken?
 
 
-float P1(float erroro, float kpo) {
+float P1(int erroro, float kpo) {
  return erroro*kpo;
  }
 
@@ -377,8 +377,8 @@
       
 
 
-float P2(float errorb, float kpb) {
- return errorb*kpb;
+float P2(int error_b, float kpb) {
+ return error_b*kpb;
  }
 
 void MotorController2()
@@ -387,15 +387,15 @@
     int reference_b = (int) (countb-hcountb);
     int position_b = Encoder2.getPulses();
 
-    int errorb = reference_b - position_b;
+    int error_b = reference_b - position_b;
     
     pc.printf("position_b= %i", position_b);
     
-    if (-100<errorb && errorb<100){
+    if (-100<error_b && error_b<100){
         motorValue2 = 0;
         }
     else {
-    motorValue2 = 0.1*P2(errorb, kpb);
+    motorValue2 = 0.1*P2(error_b, kpb);
     }    
         
     
@@ -407,8 +407,8 @@
     
 
 
-float P3(float errorr, float kpr) {
- return errorr*kpr;
+float P3(int error_r, float kpr) {
+ return error_r*kpr;
  }
 
 void MotorController3()
@@ -416,17 +416,17 @@
     int reference_r = (int) (countr-hcountr);
     int position_r = Encoder3.getPulses();
         
-    int errorr = reference_r - position_r;
+    int error_r = reference_r - position_r;
     
     pc.printf("position_r= %i", position_r);
     
     
-    if (-100<errorr && errorr<100){
+    if (-100<error_r && error_r<100){
         motorValue3 = 0;
         
         }
     else {
-    motorValue3 = 0.1*P3(errorr, kpr);
+    motorValue3 = 0.1*P3(error_r, kpr);
     }    
             
     if (motorValue3 >=0) motor3DirectionPin=1;