Marlies Weggemans / Mbed 2 deprecated Biorobotics_g15_gezamelijk710

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Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM demomode

Files at this revision

API Documentation at this revision

Revision 28:5250ef542ffd, committed 2019-10-07

Comitter:
MarliesWeggemans
Date:
Mon Oct 07 09:17:55 2019 +0000
Parent:
27:6595a0dffcde
Commit message:
main incl. comments

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Mon Oct 07 08:03:05 2019 +0000
+++ b/main.cpp	Mon Oct 07 09:17:55 2019 +0000
@@ -22,13 +22,13 @@
 Ticker ticker;
 
 // opzetten van hoekbepaling
-QEI encoder(D13,D12,NC,32,QEI::X4_ENCODING);
-QEI encoder_2(D11,D10,NC,32,QEI::X4_ENCODING);
+QEI encoder(D13,D12,NC,64,QEI::X4_ENCODING); // Pulsesperrevolution=64
+QEI encoder_2(D11,D10,NC,64,QEI::X4_ENCODING);
 
 //Global values
 int motordir1 = 1;
 int motordir2 = 1;
-double Kp = 17.5;
+double Kp = 17.5; //proportional gain = tuning parameter
 
 // aparte functies
 //functie motor aansturen met pot