Diff: main.cpp

Revision:

14:baebaef79aa6

Parent:

13:a6770307a5d2

Child:

15:7fbee317af2d

--- a/main.cpp	Tue Sep 29 16:48:08 2015 +0000
+++ b/main.cpp	Tue Sep 29 16:58:52 2015 +0000
@@ -18,6 +18,7 @@
 double Aantal_pulses;
 double reference;
 double position;
+double m2_ref;
 
 void ScopeSend()//Functie die de gegevens voor de scope uitleest en doorstuurt
 {
@@ -33,7 +34,7 @@
 const double m2_Ts = 0.01;
 
 // Controller gain
-const double m2_Kp = 0.07,m2_Ki = 0.005, m2_Kd = 0.005;
+const double m2_Kp = 0.07,m2_Ki = 0.005, m2_Kd = 0.001;
 double m2_err_int = 0, m2_prev_err = 0;
 
 //Derivative filter coeffs
@@ -69,7 +70,7 @@
 // Motor control
 void motor2_Controller() 
 {
-    reference = potmeter2.read()*360;
+    reference = m2_ref;
     position = Encoder.getPulses()*360/(0.5*128*131); // Aantal Degs
     double P2 = PID( reference - position, m2_Kp, m2_Ki, m2_Kd, m2_Ts, m2_err_int, m2_prev_err, m2_f_v1, m2_f_v2, m2_f_a1, m2_f_a2, 
     m2_f_b0, m2_f_b1, m2_f_b2);
@@ -94,8 +95,16 @@
     myControllerTicker.attach( &motor2_Controller, 0.01f ); // 100 Hz
     while(true)
     {
+       char c = pc.getc();
+       if(c == 'r')
+        {
+           m2_ref = m2_ref + 5;
+        }
+        if(c == 'f')
+        {
+            m2_ref = m2_ref - 5;
+        }
        pc.printf("position = %f aantal degs = %f \n",reference,position);
-       wait(0.2f);
     }
 
 }
\ No newline at end of file