Diff: main.cpp

Revision:

33:ec07e11676ec

Parent:

32:a5b411833d1e

Child:

35:ba556f2d0fcc

--- a/main.cpp	Tue Oct 30 18:28:26 2018 +0000
+++ b/main.cpp	Wed Oct 31 09:26:55 2018 +0000
@@ -102,9 +102,9 @@
                
     float PIDcontroller(float refvalue,float CurAngle)  // PID controller for the motors, based on the reference value and the current angle of the motor
     {   //float   Kp = Kpcontr();
-        float   Kp = 10.42f; 
+        float   Kp = 10.37f; 
         float   Ki = 1.02f;
-        float   Kd = 0.0493f;
+        float   Kd = 0.0514f;
         //float   Kd = Kdcontr();
         float   error = ErrorCalc(refvalue,CurAngle);
         static float    error_integral = 0.0;
@@ -130,20 +130,28 @@
             return  angle;
         }
 
-void    turn1()    // main function for movement of motor 1, all above functions with an extra tab are called
+
+
+float*    turn1()    // main function for movement of motor 1, all above functions with an extra tab are called
 {   
-    //float   refvalue1 = pi/4.0;
-    float   refvalue1 = DesiredAngle();
-    int     counts1 = Counts1input();
-    float   currentangle1 = CurrentAngle(counts1);
-    float   PIDcontrol1 = PIDcontroller(refvalue1,currentangle1);
-    float   error1 = ErrorCalc(refvalue1,currentangle1);
+    //float   refvalue1 = pi/4.0f;
+    float   refvalue1 = DesiredAngle();                             // different minus sign per motor
+    int     counts1 = Counts1input();                               // different encoder pins per motor
+    float   currentangle1 = CurrentAngle(counts1);                  // different minus sign per motor
+    float   PIDcontrol1 = PIDcontroller(refvalue1,currentangle1);   // same for every motor
+    float   error1 = ErrorCalc(refvalue1,currentangle1);            // same for every motor
     
-    pin6 = fabs(PIDcontrol1);
-    pin7 = PIDcontrol1 > 0.0f;
+    pin6 = fabs(PIDcontrol1);                                       // different pins for every motor
+    pin7 = PIDcontrol1 > 0.0f;                                      // different pins for every motor
     //pin6 = 0.4+0.6*fabs(PIDcontr);     //geschaald
     //pin6 = fabs(PIDcontr)/pi;
-    pc.printf("     error:  %f      ref: %f     angle:  %f \r\n",error1,refvalue1,currentangle1);
+    //pc.printf("     error:  %f      ref: %f     angle:  %f \r\n",error1,refvalue1,currentangle1);
+    float*  outcome;
+    float   turninfo[3] = {error1, refvalue1, currentangle1};
+    //float ( &fillarr( float (&outcome)[3] ) )[3] { // no decay; argument must be size 3
+    outcome = turninfo;
+    
+    return outcome;
 }
 
 float ActualPosition(int counts, int offsetcounts)      // After calibration, this function is used to return the counts (and thus the angle of the system) to 0
@@ -158,14 +166,21 @@
     pc.baud(115200);  
     pin3.period_us(15);     // If you give a period on one pin, c++ gives all pins this period
         
-    //motor.attach(turn1,dt);
-
+    //float motoroutcome1 = motor.attach(turn1,dt);
+    
     emergencybutton.rise(Emergency);              //If the button is pressed, stop program
     //pin6 = 0.01; 
             
     while   (true)
     {   
-        turn1();
-        wait(dt);    
+        float* motoroutcome1 = turn1();
+        float motor11 = motoroutcome1[0];
+        float motor12 = motoroutcome1[1];
+        float motor13 = motoroutcome1[2];
+        
+        pc.printf("     error1:  %f      ref1: %f     angle1:  %f \r\n",motor11,motor12,motor13);
+        wait(dt);
+        //wait(dt*10);
+        //wait(printingfreq);  --> still needs to be defined   
     }
 }