James Kiwic
/
RT2_P3_students
Fertig
Fork of RT2_P3_students by
Diff: main.cpp
- Revision:
- 5:d79c437626e7
- Parent:
- 3:769ce5f06d3e
- Child:
- 6:2cc56521aa16
diff -r 769ce5f06d3e -r d79c437626e7 main.cpp --- a/main.cpp Mon Apr 09 08:01:29 2018 +0000 +++ b/main.cpp Mon Apr 09 09:26:58 2018 +0000 @@ -7,7 +7,7 @@ #include "DiffCounter.h" #include "IIR_filter.h" #include "LinearCharacteristics.h" -//#include "PI_Cntrl.h" +#include "PI_Cntrl.h" /* Cuboid balance on one edge on Nucleo F446RE **** IMPORTANT: use ..\Labormodelle\RT-MOD054 - Würfel\Escon_Parameter_4nucleo.edc @@ -75,11 +75,7 @@ counter1.reset(); // encoder reset diff.reset(0.0f,0.0f); ControllerLoopTimer.attach(&updateControllers, Ts); //Assume Fs = ...; - - float value = i2u(22.2); - - - + } //****************************************************************************** @@ -88,12 +84,11 @@ void updateControllers(void){ short counts = counter1; // get counts from Encoder float vel = diff(counts); // motor velocity - + out.write(i2u(0.0f)/3.3f); // ... your code - out.write(i2u(1.5f)/3.3f); - if(++k >= 199){ + if(++k >= 249){ k = 0; - pc.printf("omega_soll=%3.2f omega=%3.2f \r\n",w_soll,vel); + pc.printf("Pulse: %d Velocity: %3.2f\r\n",counts,vel); } } //******************************************************************************