Diff: main.cpp

Revision:

7:dc3cb1a5764b

Parent:

5:72bdc69d610d

Child:

8:b01d4cb1857f

--- a/main.cpp	Wed Sep 12 14:41:23 2018 +0000
+++ b/main.cpp	Fri Sep 14 09:31:34 2018 +0000
@@ -237,7 +237,9 @@
     if(ElapsedM==0){
         ReadMotorSpeed=0;
     }else{
+        //francesco 14/09/2018 -->> il rapporto di riduzione è già stato considerato
         ReadMotorSpeed=float(60000000/(ElapsedM*4.0f));  // rev/min
+        //ReadMotorSpeed=float(60000000/ElapsedM);  // rev/min
     }
 }
 
@@ -275,7 +277,9 @@
     wait(1);
     uSMotor.start();
     uSWheel.start();
-    MotorPwmPin.period_us(2000);  // freq 1khz
+    //MotorPwmPin.period_us(2000);  // freq 1khz
+    //francesco 13/09/2018 -->> periodo sbagliato se si vuole una frequenza di un khz
+    MotorPwmPin.period_us(1000); 
     MotorPwmPin.write(0.0f);  // duty cycle=off
     OffTheMotor();
     MSToMotorNewCheck.attach(&CheckMotorCorrection, 0.1);  //check motor correction every xx seconds
@@ -287,10 +291,14 @@
     WheelSensorPin.rise(&ReadWheelInterrupt);  //interrupt for wheel sensor, trigs when changes from 0 to 1
     MotorSensorPin.rise(&ReadMotorInterrupt);  //interrupt for motor sensor, trigs when changes from 0 to 1
 
+    //francesco 14/09/2018 -->> alzo il limite
+    //motorPID.setInputLimits(0, 1000000); -->> il test non ha buoni frutti, rimetto l'originale 10000
     motorPID.setInputLimits(0, 10000); //70*secondosinaminute*trigsperwheelrevolutions
+    
     motorPID.setOutputLimits(0.0f, 1.0f);
     motorPID.setMode(1);
-    motorPID.setSetPoint(1000);
+    //francesco 14/09/2018 -->> non capisco perchè fornire un set point fisso
+    //motorPID.setSetPoint(1000);
 
 //***************************************************
 //***************************************************