Diff: main.cpp

Revision:

3:d79c437626e7

Parent:

2:769ce5f06d3e

Child:

4:2cc56521aa16

--- a/main.cpp	Mon Apr 09 08:01:29 2018 +0000
+++ b/main.cpp	Mon Apr 09 09:26:58 2018 +0000
@@ -7,7 +7,7 @@
 #include "DiffCounter.h"
 #include "IIR_filter.h"
 #include "LinearCharacteristics.h"
-//#include "PI_Cntrl.h"
+#include "PI_Cntrl.h"
 /* Cuboid balance on one edge on Nucleo F446RE
 
  **** IMPORTANT: use ..\Labormodelle\RT-MOD054 - Würfel\Escon_Parameter_4nucleo.edc 
@@ -75,11 +75,7 @@
     counter1.reset();   // encoder reset
     diff.reset(0.0f,0.0f);
     ControllerLoopTimer.attach(&updateControllers, Ts); //Assume Fs = ...;
-    
-    float value = i2u(22.2);
-    
-    
-    
+        
     
 }
 //******************************************************************************
@@ -88,12 +84,11 @@
 void updateControllers(void){
     short counts = counter1;            // get counts from Encoder
     float vel = diff(counts);           // motor velocity 
-    
+    out.write(i2u(0.0f)/3.3f);
     // ... your code 
-    out.write(i2u(1.5f)/3.3f);
-    if(++k >= 199){
+    if(++k >= 249){
         k = 0;
-        pc.printf("omega_soll=%3.2f omega=%3.2f \r\n",w_soll,vel);
+        pc.printf("Pulse: %d Velocity: %3.2f\r\n",counts,vel);
     }
 }
 //******************************************************************************