Diff: main.cpp

Revision:

25:8c5c5eeff8e7

Parent:

24:4d2f1b7746de

--- a/main.cpp	Mon Sep 27 19:55:59 2021 +0000
+++ b/main.cpp	Mon Sep 26 15:55:11 2022 +0000
@@ -33,16 +33,16 @@
 QEI encoderC(PC_6, PC_7, NC, 1200, QEI::X4_ENCODING);  // MOTOR C ENCODER (no index, 1200 counts/rev, Quadrature encoding)
 QEI encoderD(PD_12, PD_13, NC, 1200, QEI::X4_ENCODING);// MOTOR D ENCODER (no index, 1200 counts/rev, Quadrature encoding)
 
-MotorShield motorShield(12000); //initialize the motor shield with a period of 12000 clock ticks or ~20kHZ
+MotorShield motorShield(24000); //initialize the motor shield with a period of 12000 clock ticks or ~10kHZ
 
 void current_control()   //Current control function
 {
     float error = 0;
     theta = encoderA.getPulses()*(6.2831/1200.0);
     velocity = encoderA.getVelocity()*(6.2831/1200.0);
-    current = -(motorShield.readCurrentA()*(30.0/65536.0)-15.0); //read current for motor A in amps. Note: this is a slightly different current sensor so its a different conversion than last lab.            
+    current = -(motorShield.readCurrentA()*(52.8/65536.0)-26.4); //read current for motor A in amps. Note: this is a slightly different current sensor so its a different conversion than last lab.            
     error = current_d - current;
-
+    
     volt = 0; //CHANGE THIS TO SET CURRENT CONTROLLER VALUES
     
     duty  = volt/12.0;
@@ -53,7 +53,7 @@
         duty = -1;   
     }
     if (duty >= 0){
-        motorShield.motorAWrite(duty, 0); //run motor A at "v1" duty cycle and in the forward direction 
+        motorShield.motorAWrite(duty, 0); 
     }
     else if (duty < 0){
         motorShield.motorAWrite(abs(duty), 1);