Diff: main.cpp

Revision:

2:099da0fc31b6

Parent:

1:48aba8d5610a

Child:

3:687729d7996e

--- a/main.cpp	Mon Sep 28 10:49:56 2015 +0000
+++ b/main.cpp	Mon Sep 28 12:25:05 2015 +0000
@@ -16,6 +16,11 @@
 float Aantal_Degs;
 float Aantal_pulses;
 
+float Error;
+float refference;
+float Kp = 0.01;
+
+
 void ScopeSend()//Functie die de gegevens voor de scope uitleest en doorstuurt
 {
     scope.set(0, motor2direction.read());
@@ -38,14 +43,31 @@
     
     while (true) 
     {
-
-       motor2direction = 1;
-       motor2speed = 0.5f;
-       wait(1);
-
-       motor2direction = 0;
-       motor2speed = 0.5f;
-       wait(1);
+        char c = pc.getc();
+        switch(c)
+        {
+            case 'r':
+            {
+                refference = refference + 10;
+                break;
+            }
+            case 'f':
+            {
+                refference = refference - 10;
+                break;
+            }
+        }
+        
+        Error = refference - Aantal_Degs;
+        if(Error > 0)
+        {
+            motor2direction = 0;
+        }
+        else
+        {
+            motor2direction = 1;
+        }
+        motor2speed = Kp*abs(Error);
       
     }
 }
\ No newline at end of file