Diff: main.cpp

Revision:

24:465efbd884d5

Parent:

23:34e97668550f

Child:

25:75cce8f86272

--- a/main.cpp	Tue Sep 22 14:31:54 2015 +0000
+++ b/main.cpp	Tue Sep 22 15:06:17 2015 +0000
@@ -30,8 +30,9 @@
     {
         double position=motor2.getPosition(); //current motor position
         double error=reference-position;
+        scope.set(0,motor2.getPosition());
+        scope.send();
         pc.printf("ik doe het positie = %d en error =%d en reference=%d \r\n", position, error, reference);
-        scope.set(0,motor2.getPosition());
         return  P(error,motor2_Kp);
     }
 
@@ -48,14 +49,14 @@
         } else {                  // If button is not pressed
             double output_motor = motor2_controller();
             while(output_motor>0){
-        motor2speed=output_motor;
-        motor2direction=1;
-        break;}
-        while(output_motor<0){
-        motor2speed=fabs(output_motor);
-        motor2direction=0;
-        break;}
-            {
+            motor2speed=output_motor;
+            motor2direction=1;
+            break;}
+            while(output_motor<0){
+            motor2speed=fabs(output_motor);
+            motor2direction=0;
+            break;}
+        {
             pc.printf("else loop controller");
             }
         }