Diff: main.cpp

Revision:

46:7c14fc3caf52

Parent:

21:363271dcfe1f

--- a/main.cpp	Mon Oct 22 14:50:31 2018 +0000
+++ b/main.cpp	Wed Oct 31 17:38:52 2018 +0000
@@ -30,7 +30,7 @@
 FastPWM pin5(D5);       // Motor 2 pwm
 FastPWM pin6(D6);       // Motor 1 pwm
 DigitalOut pin7(D7);    // Motor 1 direction
-//float u1  = pot1;
+//double u1  = pot1;
 
 // Utilisation of libraries
 MODSERIAL   pc(USBTX, USBRX);
@@ -40,23 +40,23 @@
 Ticker      motor;
 
 // Global variables
-const float    pi = 3.14159265358979;
-float u3 = 0.0;         // Normalised variable for the movement of motor 3
+const double    pi = 3.14159265358979;
+double u3 = 0.0;         // Normalised variable for the movement of motor 3
 
 // Functions
 void Encoderinput()
 {   int counts1;
     int counts2;
     int counts3;
-    float  angle1;
-    float  angle2;
-    float  angle3;
+    double  angle1;
+    double  angle2;
+    double  angle3;
     counts1 = Encoder1.getPulses();
     counts2 = Encoder2.getPulses();
     counts3 = Encoder3.getPulses();
-    angle1 = ((float)counts1*2.0*pi)/4200.0;
-    angle2 = ((float)counts2*2.0*pi)/4200.0;
-    angle3 = ((float)counts3*2.0*pi)/4200.0;
+    angle1 = ((double)counts1*2.0*pi)/4200.0;
+    angle2 = ((double)counts2*2.0*pi)/4200.0;
+    angle3 = ((double)counts3*2.0*pi)/4200.0;
          
     pc.printf("Counts3: %i  Angle3: %f      Counts2: %i  Angle2: %f\r\n",counts3,angle3,counts2,angle2);
 }
@@ -68,16 +68,16 @@
         and eventually the motor will turn the other way around.
     */
     if (button1 == 1 && button2 == 1)
-        {   u3 = u3 + 0.1f;  //In stapjes van 0.1            
-            if (u3>1.0f)
-            {   u3 = 1.0f;
+        {   u3 = u3 + 0.1;  //In stapjes van 0.1            
+            if (u3>1.0)
+            {   u3 = 1.0;
             }
         }
     
     else if (button1 == 0 && button2 == 1)
-        {   u3 = u3 - 0.1f;
-            if (u3>1.0f)
-            {   u3 = 1.0f;
+        {   u3 = u3 - 0.1;
+            if (u3>1.0)
+            {   u3 = 1.0;
             }
         }
 }
@@ -88,7 +88,7 @@
     shield for the moving direction and speed of motor 3.
 */
 {      
-    float u1 = 2.0*(pot1 - 0.5);    // Normalised variable for the movement of motor 1
+    double u1 = 2.0*(pot1 - 0.5);    // Normalised variable for the movement of motor 1
     if (u1>0)
     {   pin4 = true;
     }
@@ -97,7 +97,7 @@
     }
     pin5 = fabs(u1);
     
-    float u2 = 2.0*(pot2 - 0.5);    // Normalised variable for the movement of motor 2
+    double u2 = 2.0*(pot2 - 0.5);    // Normalised variable for the movement of motor 2
     if (u2<0)
     {   pin7 = true;
     }