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voor thomas
Dependencies: BMT-K9-Regelaar Encoder MODSERIAL mbed
Fork of BMT-K9-Regelaar by
Revision 5:19687a179088, committed 2013-10-25
- Comitter:
- gerard1993
- Date:
- Fri Oct 25 11:13:01 2013 +0000
- Parent:
- 4:9ecf57487c72
- Commit message:
- Versie die nog niet werkt :(
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Fri Oct 18 09:34:16 2013 +0000 +++ b/main.cpp Fri Oct 25 11:13:01 2013 +0000 @@ -24,13 +24,16 @@ PwmOut pwm_motor2(PTA5); DigitalOut motordir1(PTD3); DigitalOut motordir2(PTD1); + + pwm_motor1.period(1.0/22000.0); + //MOTOR A float setpoint; float pwm_to_motor1; float setspeed; - float speed; - float position2; - float setpoint2; +// float speed; +// float position2; +// float setpoint2; //MOTOR B float setpointB; float pwm_to_motor2; @@ -40,14 +43,13 @@ float setpoint2B; //START OF CODE - pc.baud(230400); + pc.baud(115200); Ticker looptimer; - looptimer.attach(setlooptimerflag,0.01); - pc.printf("bla"); + looptimer.attach(setlooptimerflag,0.001); //A - speed = 0; - position2 = 0; - setpoint2 = 0; +// speed = 0; +// position2 = 0; +// setpoint = 0; //B speedB = 0; position2B = 0; @@ -58,14 +60,11 @@ looptimerflag = false; //MOTOR A - setpoint = (potmeter.read()-0.5)*8000; - setspeed =(setpoint - setpoint2)/0.01; - speed = (motor1.getPosition() - position2)/0.01; - pc.printf("s: %f, %d \n\r", setpoint, motor1.getPosition()); - pwm_to_motor1 = (setpoint - motor1.getPosition())*.0001 + (setspeed - speed)*.00005 ; + setspeed = (potmeter.read()-0.5)*.0001; + setpoint = setpoint + setspeed; + pwm_to_motor1 = (setpoint - (motor1.getPosition()/4128))*20 + (setspeed - (motor1.getSpeed()/4128))*1.4 ; keep_in_range(&pwm_to_motor1, -1,1); - setpoint2 = setpoint; - position2 = motor1.getPosition(); + if(pwm_to_motor1 > 0) motordir1 = 1; else @@ -76,7 +75,7 @@ //MOTOR B setpointB = (potmeter.read()-0.5)*8000; setspeedB =(setpointB - setpoint2B)/0.01; - speedB = (motor2.getPosition() - position2B)/0.01; + speedB = (motor2.getPosition() - position2B)/0.001; pc.printf("s: %f, %d \n\r", setpointB, motor2.getPosition()); pwm_to_motor2 = (setpointB - motor2.getPosition())*.0001 + (setspeedB - speedB)*.00005 ; keep_in_range(&pwm_to_motor2, -1,1);