Diff: main.cpp

Revision:

56:a38412383477

Parent:

55:d742332ced11

Child:

57:c546edf67c5c

--- a/main.cpp	Thu Nov 03 15:27:59 2016 +0000
+++ b/main.cpp	Thu Nov 03 16:41:10 2016 +0000
@@ -310,20 +310,20 @@
 
     while (true) {                        // neverending loop
         
-counts_encoder1 = Encoder1.getPulses();
+/*counts_encoder1 = Encoder1.getPulses();
 rev_counts_motor1=(float)counts_encoder1/(gearboxratio*rev_rond); 
-rev_counts_motor1_rad=rev_counts_motor1*6.28318530718; 
+rev_counts_motor1_rad=rev_counts_motor1*6.28318530718; */
 
-pc.printf("%f \r\n", d_ref);
+pc.printf("%f %f \r \n", d_ref, rev_counts_motor1_rad);
 //pc.printf("%f ", rev_counts_motor1_rad);
 //pc.printf("%f",w_var);
-pc.printf("%d\n",start_motor);
+//pc.printf("%d\n",start_motor);
 
 
-    if (onoffsignal_biceps==-1)  //left biceps contracted                        
-    {
-         if (switch_signal%2==0) //switch even                    
-         { 
+    if (onoffsignal_biceps==-1){  //left biceps contracted                        
+    
+         if (switch_signal%2==0){ //switch even                    
+          
             speedmotor1=controlOutput;
             //richting_motor1 = ccw;    //motor 1, left
             //pwm_motor1 = speedmotor1; //speed of motor 1
@@ -374,6 +374,8 @@
     pwm_motor2=0;
     pwm_motor1=0;
     start_motor = true;
+    
+    
        }              
                
 }//while true closed