Diff: main.cpp

Revision:

5:8ea7a765c1f7

Parent:

4:dfdfcb518e60

Child:

6:34b39eb3dcb6

--- a/main.cpp	Thu Sep 17 10:49:09 2015 +0000
+++ b/main.cpp	Thu Sep 17 11:11:44 2015 +0000
@@ -8,22 +8,17 @@
 
 // Define Encoder
 
-Encoder motorP(PTD0,PTC9,true);
+Encoder encoder(PTD0,PTC9,true);
 Serial pc(USBTX,USBRX);
-pc.baud(115200);
-while(1) {
-    wait(0.2);
-    pc.printf("pos: %d, speed %f \r\n",motor1.getPosition(), motor1.getSpeed());
-    }
 
 // Define Potmeter
-
+AnalogIn potmeter1(PTB0);
 
 ////// P Motor Controller
 
 // Controller gain
-const double motorP_Kp=2.5;
-const double Convert_volt_to_position=0.00300;
+const double motorP_Kp=2.500 ;
+const double Convert_volt_to_position=0.00300 ;
 
 // Reusable P controller (FUNCTIE)
 double P (double error, const double Kp)
@@ -31,9 +26,6 @@
             return Kp*error;
     }
 
-
-
-
 // encoder1
 // potmeter1
     
@@ -41,7 +33,7 @@
 void motorP_Controller()
     {
         double reference_position = potmeter1.read();
-        double position = Convert_volt_to_position*encoder1.getPosition();
+        double position = Convert_volt_to_position*encoder.getPosition();
         motorP=P(reference_position - position, motorP_Kp);
     }