Ruprecht Altenburger
/
mirror_actuator_V1
Mirror actuator for RT2 lab
Diff: main.cpp
- Revision:
- 15:9f32f64eee5b
- Parent:
- 11:d43f8b421d6d
- Child:
- 16:28b6bb8a4b7f
diff -r d43f8b421d6d -r 9f32f64eee5b main.cpp --- a/main.cpp Wed Apr 28 12:51:02 2021 +0000 +++ b/main.cpp Sun May 02 08:17:06 2021 +0000 @@ -1,5 +1,6 @@ #include "mbed.h" #include "math.h" +#include <stdio.h> //------------------------------------------ #define PI 3.1415927f //------------------------------------------ @@ -55,15 +56,14 @@ //------------------------------------------ // ----- User defined functions ----------- ControllerLoop loop(Ts); // this is forthe main controller loop -uart_comm_thread uart_com(&serial_port,.05f); // this is the communication thread +uart_comm_thread uart_com(&serial_port,.025f); // this is the communication thread Timer glob_ti; // the global timer path_1d p1; // pathplanner (under constr.) path_1d p2; // pathplanner (under constr.) path_1d *current_path; // --------- GPA ----------------------------- //init values: f0, f1, nbPts, A0, A1, Ts -GPA myGPA(5 , 2400, 40, 25, 25, Ts); -float exc=0.0; // excitation GPA +GPA myGPA(5 , 2450, 40, 35, 25, Ts); //------------------------------------------------------------------------------ // --------- Mirror kinematik, define values, trafos etc there Mirror_Kinematic mk; @@ -86,10 +86,10 @@ i_enable = 0; // disable current first counter1.reset(); // encoder reset counter2.reset(); // encoder reset - mk.set_offsets(1401,1510); // individal set values for global position + mk.set_offsets(328,8); // individal set values for global position glob_ti.start(); glob_ti.reset(); - loop.init_controllers(); + //loop.init_controllers(); uart_com.start_uart(); loop.start_loop(); i_des1.write(i2u(0)); @@ -118,6 +118,6 @@ i_enable = 0; while(1) { - ThisThread::sleep_for(200); + ThisThread::sleep_for(100); } } // END OF main