Diff: main.cpp

Revision:

8:69bde5e32dbf

Parent:

7:67b50d4fb03c

Child:

9:774fc3c6a39e

--- a/main.cpp	Tue Sep 29 12:19:51 2015 +0000
+++ b/main.cpp	Tue Sep 29 12:45:26 2015 +0000
@@ -18,7 +18,7 @@
 double Aantal_pulses;
 double Error;
 double refference;
-const double Kp = 0.005;
+const double Kp = 0.007;
 
 
 void ScopeSend()//Functie die de gegevens voor de scope uitleest en doorstuurt
@@ -66,12 +66,27 @@
                     {
                         motor2direction = 1;
                     }
-
                 }
         }
-
-        
-
-
+        if(c == 'f')
+        {
+            refference = refference - 10;
+            pc.printf("rx \n");
+            Error = refference - Aantal_Degs;
+            while(abs(Error) > 1)
+                {
+                    Error = refference - Aantal_Degs;
+                    motor2speed = Kp*abs(Error);
+                    pc.printf("reffence = %f,error = %f,Aantal degs = %f \n",refference,Error,Aantal_Degs);
+                    if(Error > 0)
+                    {
+                        motor2direction = 0;
+                    }
+                    else
+                    {
+                        motor2direction = 1;
+                    }
+                }
+            }
     }
 }
\ No newline at end of file