Jorn-Jan van de Beld
/
PI_standaardsignalen
kom op
Diff: main.cpp
- Revision:
- 1:7969189824ff
- Parent:
- 0:921402a95675
- Child:
- 2:0686b2132556
diff -r 921402a95675 -r 7969189824ff main.cpp --- a/main.cpp Wed Nov 01 16:16:04 2017 +0000 +++ b/main.cpp Thu Nov 02 09:20:15 2017 +0000 @@ -45,7 +45,7 @@ { refrad2 = 1.57f*sin(t.read()); //motor 2 ref2 = refrad2 * rad2pulses; - refrad1 = -0.6f*cos(t.read()) + 0.2f; //motor 1 + refrad1 = -0.5f*cos(t.read()) + 0.6f; //motor 1 ref1 = refrad2 * rad2pulses; // encoders uitlezen @@ -82,16 +82,16 @@ if (PI2>=0) { motor2DirectionPin = 1; - motor2MagnitudePin = fabs(PI2); + //motor2MagnitudePin = fabs(PI2); } else if(PI2<0) { motor2DirectionPin = 0; - motor2MagnitudePin = fabs(PI2); + //motor2MagnitudePin = fabs(PI2); } if(n==500){ - printf("PI1 = %f\n\r", PI1); + printf("error1 = %f error2 = %f\n\r", error1_1, error1_2); n=0; } else{