Diff: main.cpp

Revision:

6:bbc9ce35e0a4

Parent:

5:ea9f9f11d7c1

--- a/main.cpp	Mon Oct 29 11:35:56 2018 +0000
+++ b/main.cpp	Tue Oct 30 06:35:29 2018 +0000
@@ -6,7 +6,7 @@
 #include "QEI.h"
 #include "MODSERIAL.h"
 #include "HIDScope.h"
-#include "Math.h"
+//#include "Math.h"
 
 AnalogIn button2(A4);
 PwmOut pwmpin1(D6);
@@ -21,9 +21,9 @@
 // INITIALIZING GLOBAl VALUES
 
 double PI = 3.141592653589793238462;
-double Kp = 100; //200 , 50
-double Ki = 10;   //1, 0.5
-double Kd = 0; //200, 10
+double Kp = 16; //200 , 50
+double Ki = 0;   //1, 0.5
+double Kd = 4.5; //200, 10
 double Ts = 0.1; // Sample time in seconds
 volatile double reference_rotation = PI; //define as radians
 double motor_position;
@@ -100,7 +100,7 @@
     pc.baud(9600);
     //show_counts.attach(PrintFlag, 0.2);
     ref_rot.attach(Motor_mover, 0.01);
-    Scope_Data.attach(ScopeData, 0.1);
+    Scope_Data.attach(ScopeData, 0.01);
 
 // DEFININING VARIABLES
     //float reference;
@@ -121,18 +121,18 @@
                 foo[a] = 3.14f/length*(a);
                 //printf("%f\n\r", foo[a]);
                 reference_rotation = foo[a];
-                wait(0.1f);
+                wait(0.2f);
                 }
             for(a=10; a<18; a++){
                 foo[a] = 3.14f/length*b;
                 //printf("%f\n\r", foo[a]);
                 reference_rotation = foo[a];
                 b = b-1.0f;
-                wait(0.1f);
+                wait(0.2f);
                 }
             }
 
-        reference_rotation = PI;
+        reference_rotation = 0;