Diff: main.cpp

Revision:

36:da07b5c2984d

Parent:

34:c672f5c0763f

Child:

37:23660d12d772

Child:

38:17a1622a27f7

--- a/main.cpp	Tue Oct 13 21:18:01 2015 +0000
+++ b/main.cpp	Tue Oct 13 21:37:23 2015 +0000
@@ -52,8 +52,10 @@
 volatile bool looptimerflag;
 const double  cw=0;                     // zero is clockwise (front view)
 const double  ccw=1;                    // one is counterclockwise (front view)
+const double off=1;                     //Led off
+const double on=0;                      //Led on
 const int Fs = 512;                     // sampling frequency (512 Hz)
-const double sample_time = 1/512;                     // sampling frequency (512 Hz)
+const double sample_time = 0.001953125;                     // sampling frequency (512 Hz)
 
 // PID motor constants
 double integrate_error_turn=0;          // integration error turn motor
@@ -79,7 +81,6 @@
                     // One revolution = 360 degrees
                     // degrees_per_encoder_tick = 360/(gear_ratio*ticks_per_magnet_rotation)=360/131*32=0.085877862594198 
 
-
     
 //                    ___________________________
 //                  //                           \\
@@ -99,16 +100,17 @@
                                                      //                           //                                                                        //
                                                      ///////////////////////////////                                                                        //
 int main() {
-    debug_led_red=1;
-    debug_led_blue=1;
-    debug_led_green=1;
-    double reference_turn=0;                  // Set constant to store reference value of the Turn motor
+    debug_led_red=off;
+    debug_led_blue=off;
+    debug_led_green=off;
+    
     double position_turn;                   // Set constant to store current position of the Turn motor
     double error;
     double pwm_to_motor_turn;
     double pwm_motor_turn_P;
     double pwm_motor_turn_I;
     double pwm_motor_turn_D;
+    double reference_turn=0;                  // Set constant to store reference value of the Turn motor
     
     //START OF CODE 
     pc.printf("Start of code \n\r");
@@ -133,14 +135,14 @@
 //                                       \\___________________________//
 //                             interrupt button Disbalances the current motor position 
 
-                                //if button L2 pressed => disbalance motor                  \\                                
+                                //if button L2 pressed => disbalance motor                                                  
          if (buttonL2.read() < 0.5){      
              motordirection_turn = cw;                       
              pwm_motor_turn = 0.5f;         
              pc.printf("positie = %d \r\n", motor_turn.getPulses()); }
 
              
-                                // if button L1 pressed => shut down motor for 1000 seconds  \\
+                                // if button L1 pressed => shut down motor for 1000 seconds  
          if (buttonL1.read() < 0.5){      
              motordirection_turn = cw;                       
              pwm_motor_turn = 0;
@@ -153,7 +155,7 @@
 //                                       //                           \\
 //                                      ||    [Wait for go signal]     ||
 //                                       \\___________________________//
-//                     // Wait until looptimer flag is true then execute PID controller loop. \\               
+//                     // Wait until looptimer flag is true then execute PID controller loop.                
              
         while(looptimerflag != true);
 
@@ -165,7 +167,7 @@
 //                                       //                           \\
 //                                      ||     [Calibrate position]    ||
 //                                       \\___________________________//
-//                             //   Keep motor position between -4200 and 4200 counts  \\       
+//                             //   Keep motor position between -4200 and 4200 counts        
         
         if ((motor_turn.getPulses()>4200) || (motor_turn.getPulses()<-4200)) // If value is outside -4200 and 4200 (number of counts equal to one revolution) reset to zero
         {
@@ -221,7 +223,7 @@
 //                                       //                           \\
 //                                      ||   [PID error -> pwm motor]  ||
 //                                       \\___________________________//
-//          // Keep Pwm between -1 and 1 -> and decide the direction of the motor to compensate the error \\      
+//          // Keep Pwm between -1 and 1 -> and decide the direction of the motor to compensate the error       
 
         keep_in_range(&pwm_to_motor_turn, -1,1);                     // Pass to motor controller but keep it in range!
         pc.printf("pwm %f \n\r", pwm_to_motor_turn);
@@ -252,9 +254,9 @@
 //                                       \\___________________________//
 //                                      // Check signals inside HIDSCOPE \\
         
-            scope.set(0,reference_turn);    // HIDSCOPE channel 0 : Current Reference
-            scope.set(0,position_turn);     // HIDSCOPE channel 0 : Position_turn
-            scope.set(1,pwm_to_motor_turn); // HIDSCOPE channel 1 : Pwm_to_motor_turn
+            scope.set(0,error);             // HIDSCOPE channel 0 : Current Reference
+            scope.set(1,position_turn);     // HIDSCOPE channel 1 : Position_turn
+            scope.set(2,pwm_to_motor_turn); // HIDSCOPE channel 2 : Pwm_to_motor_turn
             scope.send();                   // Send channel info to HIDSCOPE
     }
 }