Diff: main.cpp

Revision:

4:2a3b8c562f4a

Parent:

3:864137a5f702

Child:

12:92a64fe08de8

--- a/main.cpp	Fri Oct 03 11:10:46 2014 +0000
+++ b/main.cpp	Fri Oct 03 11:26:43 2014 +0000
@@ -34,17 +34,33 @@
         float new_pwm;
         while(!looptimerflag);
         looptimerflag = false;
-        //---------------------------------------------------------leest potentiometer (?), schaalt tussen 0 en 1-------------------------------------
-        setpoint = (potmeter.read()-.5)*500;  
-        //----------------------------------------------------------------------new_pwm = getal?.....-------------------------------------------------
+        //---------------------------------------------------------leest potentiometer (?), probably doesn't do what I want it to do --------------------
+        if ( 5 < potmeter.read()< 7)
+        {
+            setpoint = v3
+        }
+        else if ( 3 < potmeter.read() < 5)
+        {
+            setpoint = v2
+        }
+        else if (1 < potmeter.read() < 3)
+        {
+            setpoint = v1
+        }
+        else 
+        {
+            setpoint = v0
+        }
+        // setpoint = (potmeter.read()-.5)*500;  
+        //----------------------------------------------------------------------new_pwm = getal?.....----------------------------------------------------
         new_pwm = pid(setpoint, motor1.getPosition());
         clamp(&new_pwm, -1,1);
-        //-------------------------------------------------------------------------------------output motor richting----------------------------------
+        //-------------------------------------------------------------------------------------output motor richting-------------------------------------
         if(new_pwm > 0)
             motordir = 0;
         else
             motordir = 1;
-        //-------------------------------------------------------------------------------output motorsnelhied (wij willen 4 distinctive stappen)------
+        //-------------------------------------------------------------------------------output motorsnelhied (wij willen 4 distinctive stappen)---------
         pwm_motor.write(abs(new_pwm));
     }
 }