Diff: main.cpp

Revision:

12:92a64fe08de8

Parent:

4:2a3b8c562f4a

Child:

13:76a40e4c8982

--- a/main.cpp	Mon Oct 06 09:44:30 2014 +0000
+++ b/main.cpp	Mon Oct 06 10:42:33 2014 +0000
@@ -5,7 +5,6 @@
 #define K_I (0  *TSAMP)
 #define K_D (0  /TSAMP)
 #define I_LIMIT 1.
-
 #define POT_AVG 50
 
 void clamp(float * in, float min, float max);
@@ -34,22 +33,23 @@
         float new_pwm;
         while(!looptimerflag);
         looptimerflag = false;
-        //---------------------------------------------------------leest potentiometer (?), probably doesn't do what I want it to do --------------------
-        if ( 5 < potmeter.read()< 7)
+        //---------------------------------------------------------leest potentiometer (?), probably won't do what I want it to do ------------------
+        //---------------------------------------------------------int 6? ---------------------------------------------------------------------------
+        if ( 4.5 < potmeter.read()< 6)
         {
-            setpoint = v3
+            setpoint = v3 //experimenteel bepaald, snelheid om bovenste goal te raken
         }
-        else if ( 3 < potmeter.read() < 5)
+        else if ( 3 < potmeter.read() < 4.5)
         {
-            setpoint = v2
+            setpoint = v2 //experimenteel bepaald, snelheid om middelste goal te raken
         }
-        else if (1 < potmeter.read() < 3)
+        else if (1.5 < potmeter.read() < 3)
         {
-            setpoint = v1
+            setpoint = v1 //experimenteel bepaald, snelheid om bovenste goal te raken
         }
         else 
         {
-            setpoint = v0
+            setpoint = 0
         }
         // setpoint = (potmeter.read()-.5)*500;  
         //----------------------------------------------------------------------new_pwm = getal?.....----------------------------------------------------
@@ -73,6 +73,7 @@
 
 float pid(float setpoint, float measurement)
 {
+    //What I want: if getposition gives value beneath min v=0!, If above max: return to 0 position(from the way it came)
     float error;
     static float prev_error = 0;
     float           out_p = 0;