Diff: main.cpp

Revision:

10:548230cbdb8e

Parent:

9:aa5d6636197b

--- a/main.cpp	Fri Mar 22 10:54:48 2019 +0000
+++ b/main.cpp	Fri Mar 22 11:24:40 2019 +0000
@@ -164,7 +164,7 @@
     static double error1_prev = error1; // initialization with this value only done once!
     static BiQuad LowPassFilter(0.0640, 0.1279, 0.0640, -1.1683, 0.4241); //(BIQUAD_FILTER_TYPE type, T dbGain, T freq, T srate, T bandwidth);
     
-    /* PID testing
+    // PID testing
     Kp1 = 10 * Pot2;
     Ki1 = 10 * Pot1;
     
@@ -174,7 +174,7 @@
     if (!But1){
         Kd1 = Kd1 - 0.01;
     }
-    */
+    
     
     // Proportional part:
     double u_k1 = Kp1 * error1;
@@ -230,8 +230,8 @@
 void moter1_control(double u1)
 {
     direction1= u1 > 0.0f; //positief = CW
-    if (fabs(u1)> 0.7f) {
-        u1 = 0.7f;
+    if (fabs(u1)> 0.5f) {
+        u1 = 0.5f;
     } else {
         u1= u1;
     }
@@ -256,9 +256,9 @@
     float Ellebooghoek4 = Limits2(Ellebooghoek1);
     ElbowReference = Ellebooghoek4;
     
-    float Polshoek1 = Kinematics1(pwm2);
-    float Polshoek4 = Limits1(Polshoek1);
-    PolsReference = Polshoek4;
+   // float Polshoek1 = Kinematics1(pwm2);
+   // float Polshoek4 = Limits1(Polshoek1);
+   // PolsReference = Polshoek4;
 
     // Positie motor berekenen, in graden
     Pulses1 = encoder1.getPulses();
@@ -298,7 +298,7 @@
     pwm1 =(Pot1*2)-1;
 }
 
-/*
+
 void Kdcount (void)             // Voor het testen van de PID waardes
 {
     int count = 0;
@@ -309,7 +309,7 @@
     }
     count ++;
 }
-*/
+
 
 int main()
 {
@@ -318,7 +318,7 @@
     int counter = 0;
     pwmpin2.period_us(60);
     PotRead.attach(ContinuousReader,Ts);
-    //Kdc.attach(Kdcount,5);                //Voor PID waarde testen
+    Kdc.attach(Kdcount,5);                //Voor PID waarde testen
     pc.baud(115200);
     //pc.printf("start\r\n");
     led = 1;