Diff: main.cpp

Revision:

11:f23fe69ba3ef

Parent:

10:952377fbbbfe

Child:

12:ea9afe159eb1

--- a/main.cpp	Wed Nov 01 11:18:18 2017 +0000
+++ b/main.cpp	Wed Nov 01 11:36:04 2017 +0000
@@ -358,12 +358,12 @@
 
 void MotorController1()
 {
-    float      reference_o = counto-hcounto;
+    int      reference_o = (int) (counto-hcounto);
     int         position_o = Encoder1.getPulses();
     
     erroro = reference_o - position_o;
     
-    pc.printf("Position_o = %i \n\r",position_o);
+    pc.printf("Position_o = %i \n\r reference_o=%.2f\n\r",position_o,reference_o);
     
     if (-100<erroro && erroro<100){
         motorValue1 = 0;
@@ -387,7 +387,7 @@
 void MotorController2()
 {
     
-    float reference_b = countb-hcountb;
+    int reference_b = (int) (countb-hcountb);
     int position_b = Encoder2.getPulses();
 
     errorb = reference_b - position_b;
@@ -416,7 +416,7 @@
 
 void MotorController3()
 {
-    float reference_r = countr-hcountr;
+    int reference_r = (int) (countr-hcountr);
     int position_r = Encoder3.getPulses();
         
     errorr = reference_r - position_r;
@@ -462,7 +462,7 @@
     rotr=Lru/omtrekklosje; 
     counto=roto*4200; 
     dcounto=counto-hcounto;
-    pc.printf("counto = %f \n\r", counto);
+    //pc.printf("counto = %f \n\r", counto);
     //pc.printf("hcounto = %f \n\r", hcounto);
     //pc.printf("dcounto = %f \n\r",dcounto);
     countb=rotb*4200;
@@ -481,11 +481,11 @@
     touwlengtes();
     Pex=Pstx;                  
     Pey=Psty;
-    pc.printf("een stappie verder\n\r x=%.2f\n\r y=%.2f\n\r",Pstx,Psty);
+    //pc.printf("een stappie verder\n\r x=%.2f\n\r y=%.2f\n\r",Pstx,Psty);
     //pc.printf("met lengtes:\n\r Lo=%.2f Lb=%.2f Lr=%.2f\n\r",Lou,Lbu,Lru);
     turns();
     //pc.printf("rotatie per motor:\n\r o=%.2f b=%.2f r=%.2f\n\r",roto,rotb,rotr); 
-    pc.printf("counts per motor:\n\r o=%.2f b=%.2f r=%.2f\n\r",counto,countb,countr);
+    //pc.printf("counts per motor:\n\r o=%.2f b=%.2f r=%.2f\n\r",counto,countb,countr);
     /*float R;
     R=Vex/Vey;                  // met dit stukje kan je zien dat de verhouding tussen Vex en Vey constant is en de end efector dus een rechte lijn maakt
     pc.printf("\n\r R=%f",R);*/