Diff: main.cpp

Revision:

18:6c065915f474

Parent:

17:aa167ab3cf75

Child:

19:c6dc35b4cc0c

--- a/main.cpp	Thu Oct 08 10:32:07 2015 +0000
+++ b/main.cpp	Thu Oct 08 10:41:56 2015 +0000
@@ -24,7 +24,6 @@
 volatile bool looptimerflag;
 const double  cw=0;                     // zero is clockwise (front view)
 const double  ccw=1;                    // one is counterclockwise (front view)
-double reference_turn = 0;
 
 const double Gain_P_turn=0.0067; 
                     // stel setpoint tussen (0 en 360) en position tussen (0 en 360)
@@ -46,6 +45,7 @@
                     // One revolution = 360 degrees
                     // degrees_per_encoder_tick = 360/(gear_ratio*ticks_per_magnet_rotation)=360/131*32=0.085877862594198 
 
+
 const double sample_time=0.01;          // tijd voor een sample (100Hz)
     
 // PID motor constants
@@ -66,7 +66,7 @@
     QEI motor_turn(D12,D13,NC,32);          // Encoder for motor Turn
     PwmOut pwm_motor_turn(D5);              // Pwm for motor Turn
     DigitalOut motordirection_turn(D4);     // Direction of the motor Turn
-    double reference_turn;                  // Set constant to store reference value of the Turn motor
+    double reference_turn=0;                  // Set constant to store reference value of the Turn motor
     double position_turn;                   // Set constant to store current position of the Turn motor
     double error;
     double pwm_to_motor_turn;
@@ -97,11 +97,17 @@
              pwm_motor_turn = 0.5f;       // motorspeed            
              pc.printf("positie = %d \r\n", motor_turn.getPulses()); }
              
-        // Change Reference button
-         if (buttonL1.read() < 0.5){      //if button pressed
-             pc.printf("Reference after = %d \r\n", Reference);
-             change_reference_positive(Reference_turn)                 
-             pc.printf("Reference after = %d \r\n", Reference); }       
+        // Change Reference button Positive
+         if (buttonH1.read() < 0.5){      //if button pressed
+             pc.printf("Reference after = %d \r\n", reference_turn);
+             reference_turn=reference_turn+45;               
+             pc.printf("Reference after = %d \r\n", reference_turn); }
+             
+        // Change Reference button Negative
+         if (buttonH1.read() < 0.5){      //if button pressed
+             pc.printf("Reference after = %d \r\n", reference_turn);
+             reference_turn=reference_turn-45;                 
+             pc.printf("Reference after = %d \r\n", reference_turn); }       
              
         // Wait until looptimer flag is true then execute PID controller.  
         else
@@ -221,9 +227,3 @@
 //{
 //    get_sample = 1;
 //}
-
-
-void change_reference_positive (double Reference)
-{
-    Reference=Reference+45;
-}
\ No newline at end of file