Diff: main.cpp

Revision:

7:67b50d4fb03c

Parent:

5:455773cf460b

Child:

8:69bde5e32dbf

--- a/main.cpp	Tue Sep 29 11:54:47 2015 +0000
+++ b/main.cpp	Tue Sep 29 12:19:51 2015 +0000
@@ -13,11 +13,12 @@
 QEI Encoder(D3, D2, NC, 128);
 HIDScope scope(3);
 Ticker ScopeTime;
-float Aantal_Degs;
-float Aantal_pulses;
-float Error;
-float refference;
-const float Kp = 0.005;
+
+double Aantal_Degs;
+double Aantal_pulses;
+double Error;
+double refference;
+const double Kp = 0.005;
 
 
 void ScopeSend()//Functie die de gegevens voor de scope uitleest en doorstuurt
@@ -38,7 +39,7 @@
     motor2speed = 0;
     led = 1;
     pc.baud(115200);
-    float refference = 0;
+    refference = 0;
     pc.printf("Tot aan loop werkt\n");
     ScopeTime.attach_us(&ScopeSend, 10e4);
     
@@ -52,11 +53,11 @@
             refference = refference + 10;
             pc.printf("rx \n");
             Error = refference - Aantal_Degs;
-            while(abs(Error) > 2)
+            while(abs(Error) > 1)
                 {
                     Error = refference - Aantal_Degs;
                     motor2speed = Kp*abs(Error);
-                    pc.printf("reffence = %f,error = %f \n",refference,Error);
+                    pc.printf("reffence = %f,error = %f,Aantal degs = %f \n",refference,Error,Aantal_Degs);
                     if(Error > 0)
                     {
                         motor2direction = 0;