Revision 11:28a196a3d898, committed 2013-10-23

Comitter:

Socrates

Date:

Wed Oct 23 13:32:39 2013 +0000

Parent:

10:2e66843bb6d7

Child:

12:100cbba6cd96

Commit message:

Werkt op x, met duty cycle

Changed in this revision

--- a/main.cpp	Mon Oct 21 13:52:39 2013 +0000
+++ b/main.cpp	Wed Oct 23 13:32:39 2013 +0000
@@ -5,11 +5,12 @@
 //Rechts is x, links is y
 AnalogIn emgtl(PTB1);
 AnalogIn emgbl(PTB0);
-//PwmOut pwm_x(PTA5);
-//PwmOut pwm_y(PTA12);
-AnalogOut pwm_x(PTE30);
+PwmOut pwm_x(PTA5);
+PwmOut pwm_y(PTA12);
+//AnalogOut pwm_x(PTE30);
 MODSERIAL pc(USBTX,USBRX);
 
+
 volatile bool looptimerflag;
 
 void setlooptimerflag(void)
@@ -19,6 +20,8 @@
 
 int main()
 {
+pwm_x.period(1.0/1000.0);
+pwm_y.period(1.0/1000.0);
     Ticker looptimer;
     const float ts=0.001;
     looptimer.attach(setlooptimerflag,ts);
@@ -27,7 +30,8 @@
     float xbr,ybr,y1br,x1br,zbr,z1br,z2br,yabsbr,yabs1br,yabs2br,kbr;
     float xtl,ytl,y1tl,x1tl,ztl,z1tl,z2tl,yabstl,yabs1tl,yabs2tl,ktl;
     float xbl,ybl,y1bl,x1bl,zbl,z1bl,z2bl,yabsbl,yabs1bl,yabs2bl,kbl;
-    float zx,zy,xdir,ydir;
+    float zx,zy;
+    float xdir,ydir;
 
     x1tr=0;    y1tr=0;    z1tr=0;    z2tr=0;    yabs1tr=0;    yabs2tr=0;
     x1br=0;    y1br=0;    z1br=0;    z2br=0;    yabs1br=0;    yabs2br=0;
@@ -83,10 +87,10 @@
         x1bl=xbl;        y1bl=ybl;        z2bl=z1bl;        z1bl=zbl;        yabs2bl=yabs1bl;        yabs1bl=yabsbl;
         
         if (ztr>zbr) {
-            zx=ztr*5.0;
+            zx=ztr*2.5;
             xdir=0;
         } else {
-            zx=zbr*5.0;
+            zx=zbr*2.5;
             xdir=1;
         }
 
@@ -105,15 +109,15 @@
             zy=0.99999;
         }
         
-        if (zx<0.35){
+        if (zx<0.20){
         zx=0;
         }
-        if (zy<0.35){
+        if (zy<0.20){
         zy=0;
         }
         
-        //pwm_x.write(abs(zx));
-        //pwm_y.write(abs(zy));
-        pc.printf("%f\n\r",kbr);
+        pwm_x.write(abs(zx));
+        pwm_y.write(abs(zy));
+        pc.printf("%f\n\r",zx);
     }
 }
\ No newline at end of file