Diff: main.cpp

Revision:

42:883d16a5d59e

Parent:

41:8a63b01edd7e

Child:

43:a889b6a30787

--- a/main.cpp	Tue May 17 15:42:29 2022 +0200
+++ b/main.cpp	Tue May 17 16:39:54 2022 +0200
@@ -56,12 +56,14 @@
 
     SpeedController speedController_M1(counts_per_turn, kn, max_voltage, pwm_M1, encoder_M1); // default 78.125:1 gear box  with default contoller parameters
     //SpeedController speedController_M1(counts_per_turn * k_gear, kn / k_gear, max_voltage, pwm_M1, encoder_M1); // parameters adjusted to 100:1 gear
+    speedController_M1.setMaxAccelerationRPS(999.0f);  // disable internal trajectory planer
 
     PositionController positionController_M2(counts_per_turn, kn, max_voltage, pwm_M2, encoder_M2); // default 78.125:1 gear with default contoller parameters
     //PositionController positionController_M2(counts_per_turn * k_gear, kn / k_gear, max_voltage, pwm_M2, encoder_M2); // parameters adjusted to 100:1 gear, we need a different speed controller gain here
     //positionController_M2.setSpeedCntrlGain(kp * k_gear);
+    positionController_M2.setMaxAccelerationRPS(999.0f);  // disable internal trajectory planer
     // define maximum speed that the position controller is changig the speed, has to be smaller or equal to kn * max_voltage
-    float max_speed_rps = 0.5f;
+    float max_speed_rps = 2.0f;
     positionController_M2.setMaxVelocityRPS(max_speed_rps);
 
     // attach button fall and rise functions to user button object
@@ -89,8 +91,8 @@
 
         if (do_execute_main_task) {
 
-            speedController_M1.setDesiredSpeedRPS(0.5f);
-            positionController_M2.setDesiredRotation(1.5f);
+            speedController_M1.setDesiredSpeedRPS(2.0f);
+            positionController_M2.setDesiredRotation(3.0f);
 
         } else {