Diff: main.cpp

Revision:

6:7db9b13ece76

Parent:

4:652d2be11b35

Child:

7:6f8157c58241

--- a/main.cpp	Wed Oct 30 10:59:58 2019 +0000
+++ b/main.cpp	Sun Nov 03 08:26:46 2019 +0000
@@ -5,6 +5,7 @@
 typedef bool boolean;
 typedef std::string String;
 #include "QEI.h"
+#include "converters.h"
 
 int Position;
 float Error;
@@ -20,7 +21,7 @@
 Serial Serial_2(PA_2,PA_3);
 PwmOut myServoPB_0(PB_0);
 PwmOut myServoPB_1(PB_1);
-Ticker tick561436;
+Ticker tick241376;
 
 void PID_Caculation() {
 Error = 0 - Position;
@@ -58,24 +59,26 @@
 }
 }
 
-void tick561436_handle() {
+void tick241376_handle() {
 Position = Position + qei_PA_0.getPulses();
 qei_PA_0.reset();
-Serial_2.printf("%d\n",Position);
+Serial_2.printf("%d\n",_p(Position));
 PID_Caculation();
 Set_speed();
 }
 
 
 int main() {
+
+
 Serial_2.baud(9600);
 
-tick561436.attach(&tick561436_handle,0.05);
+tick241376.attach(&tick241376_handle,0.05);
 Position = 0;
 qei_PA_0.reset();
 P = 1;
 I = 0;
-D = 10;
+D = 1;
 while (true) {
 }