Diff: main.cpp

Revision:

33:c9bfcf81f14e

Parent:

32:56a8bd82e971

Child:

34:9a8f901d3133

--- a/main.cpp	Thu Nov 01 18:58:28 2018 +0000
+++ b/main.cpp	Fri Nov 02 08:58:33 2018 +0000
@@ -355,7 +355,7 @@
         encoder_radians1 = (double)encoder1.getPulses()*(2.0*PI)/8400.0;
             //pc.printf("encoder1 %f \n\r", (float)encoder1.getPulses());
              //pc.printf("encoder_radians1 %f \n\r",(float) encoder_radians1);
-        err1 = q1ref - encoder_radians1;
+        err1 = q1_motor - encoder_radians1;
             //pc.printf("err1 = %f\n\r",err1);
         PID_control1();                               //PID controller function call
         
@@ -377,7 +377,7 @@
         encoder_radians2 = (float)encoder2.getPulses()*(2.0*PI)/8400.0;
             //pc.printf("encoder2 %f \n\r",(float)encoder2.getPulses());
             //pc.printf("encoder_radians2 %f \n\r",(float)encoder_radians2);
-        err2 = q2ref - encoder_radians2;
+        err2 = q2_motor - encoder_radians2;
             //pc.printf("err2 = %f\n\r",err2);
         PID_control2();                            //PID controller function call
              //pc.printf("u2 = %f\n\r",u2);
@@ -411,8 +411,8 @@
     q1ref = q1_ii;
     q2ref = q2_ii;
     
-    q1_motor = q1ref*5.0;
-    q2_motor = q2ref/r_trans;  
+    q1_motor = q1ref/r_trans;
+    q2_motor = q2ref*5.0;  
     
     
     //pc.printf("q1ref is %f en q2ref is %f\n\r",q1ref, q2ref);