Diff: main.cpp

Revision:

10:ae139f40acc0

Parent:

9:d8d2778bfbfd

Child:

11:e563823d3c94

--- a/main.cpp	Tue Feb 14 20:37:53 2017 +0000
+++ b/main.cpp	Thu Feb 16 23:27:49 2017 +0000
@@ -16,7 +16,7 @@
 Serial pc(USBTX, USBRX, 115200);
 DigitalOut green(LED2);
 
-const int CPR = 900;  // Encoder counts per revolution.  Change to match your encoder 
+const int CPR = 900*4;  // Encoder counts per revolution.  Change to match your encoder. x4 for quadrature!
 const double VREF = 3; //Microcontroller reference voltage
 const float currentSensorOutputRatio = 0.185; // Volts/Amp. Divide Voltage by cSenseOutput to get current
 
@@ -86,7 +86,7 @@
     double publishFrequency = 0.05; /* seconds. rate to publish to matlab */
     double samplesPerPublish = (int)(publishFrequency/updatePeriod); /*this improves time response of filter and maintains smoothness*/
     int publishCounter = 1;
-    double filterRatio = 0.07;
+    double filterRatio = 0.1;
     double currentFilterRatio = 0.035;
     float currentSensorOffset = 0; int i; 
     for(i=1;i<301;i++){ currentSensorOffset += currentSense.read(); }
@@ -99,10 +99,10 @@
     
     while(1) {
     
-        currentSensorOffset = 0; i = 0;
-        for(i=1;i<201;i++){ currentSensorOffset += currentSense.read(); } //TODO: watch out this could take some time, but this should make things better!
-        currentSensorOffset = currentSensorOffset*VREF/300;
-    
+//        currentSensorOffset = 0; i = 0;
+//        for(i=1;i<201;i++){ currentSensorOffset += currentSense.read(); } //TODO: watch out this could take some time, but this should make things better!
+//        currentSensorOffset = currentSensorOffset*VREF/300;
+
         while(1) {
             
             green = true;