Ben Katz / rubix_controller

servodisc goodness

Dependencies:   mbed-dev-f303

Diff: main.cpp

Revision:
8:25a28a2ac486
Parent:
6:1143996ac690
Child:
9:61f214b91751
diff -r 1143996ac690 -r 25a28a2ac486 main.cpp
--- a/main.cpp	Mon Jan 15 16:12:52 2018 +0000
+++ b/main.cpp	Mon Jan 22 14:33:17 2018 +0000
@@ -142,7 +142,7 @@
     {
         ;
     }
-    wait(0.5f);
+    wait(0.05f);
     printf("done.\r\n");
 }
 
@@ -291,8 +291,8 @@
     
     //q_ref = 0.0f;
     if(run_control == 0){
-        e = 0;
-        //e = 40.0f*(q_ref - q) + .2f*(0.0f-dq);
+        //e = 0;
+        e = 100.0f*(q_ref - q) + .25f*(0.0f-dq);
         }
     if(run_control&(abs(q_ref - q))<.05f){
         printf("control done\n\r");}