Diff: main.cpp

Revision:

12:8ea29b18d289

Parent:

11:1f596bf4182b

Child:

13:87ab3b008803

Child:

14:155e9a9147d4

--- a/main.cpp	Thu Mar 09 12:17:32 2017 +0000
+++ b/main.cpp	Thu Mar 09 13:02:44 2017 +0000
@@ -224,12 +224,16 @@
 
 void VPID()
 {
+    controller.setMode(1);
     while(1) {
         controller.setSetPoint(revsec);
 //        printf("revsec: %2.3f\r\n", revsec);
         controller.setProcessValue(measuredRevs);
         speedControl = controller.compute();
 //        printf("speed setpoint: %2.3f\r\n", speedControl);
+        if(speedControl<0) speedControl = -speedControl;
+        else if (speedControl==0) speedControl = 1;
+        spinWait = (1/speedControl)/6;
         Thread::wait(PIDrate);
     }
 }
@@ -311,6 +315,7 @@
     int units = 0, tens = 0, decimals = 0;
     char ch;
     testpin=0;
+    int vartens = 0, varunits = 0, vardecs = 0;
 
     speedTimer.reset();
     speedTimer.start();
@@ -399,10 +404,10 @@
                     //Calculate the number of revolutions per second required
                     revsec = float(tens)*10 + float(units) + float(decimals)/10;
                     //Calculate the required wait period
-                    spinWait = (1/revsec)/6;
+
 
                     //Print values for verification
-                    pc.printf("Rev/S: %2.4f, Wait: %2.4f\n\r", revsec, spinWait);
+                    pc.printf("Rev/S: %2.4f\n\r", revsec);
 
                     //Run the function to start rotating at a fixed speed
                     fixedSpeed();
@@ -417,6 +422,34 @@
                 case 't':
 //                    pc.printf("%d\n\r", pos);
                     break;
+
+                case 'K':
+                    vartens = command[1] - '0';
+                    varunits = command[2] - '0';
+                    vardecs = command[4] - '0';
+                    Kc = float(vartens)*10 + float(varunits) + float(vardecs)/10;
+                    printf("Kc: %2.1f\r\n", Kc);
+                    controller.setTunings(Kc, Ti, Td);
+//                    controller.setMode(1);
+                    break;
+                case 'i':
+                    vartens = command[1] - '0';
+                    varunits = command[2] - '0';
+                    vardecs = command[4] - '0';
+                    Ti = float(vartens)*10 + float(varunits) + float(vardecs)/10;
+                    printf("Ti: %2.1f\r\n", Ti);
+                    controller.setTunings(Kc, Ti, Td);
+//                    controller.setMode(1);
+                    break;
+                case 'd':
+                    vartens = command[1] - '0';
+                    varunits = command[2] - '0';
+                    vardecs = command[4] - '0';
+                    Td = float(vartens)*10 + float(varunits) + float(vardecs)/10;
+                    printf("Td: %2.1f\r\n", Td);
+                    controller.setTunings(Kc, Ti, Td);
+//                    controller.setMode(1);
+                    break;
                 default:
                     //Set speed variables to zero to stop motor spinning
                     //Print error message