codevoor esther
Dependencies: Encoder MODSERIAL mbed
Diff: main.cpp
- Revision:
- 7:422b8ec97278
- Parent:
- 6:bea0424b407c
- Child:
- 8:e3e972c4e249
--- a/main.cpp Mon Nov 04 19:58:59 2013 +0000 +++ b/main.cpp Mon Nov 04 20:29:01 2013 +0000 @@ -55,7 +55,8 @@ looptimer.attach(setlooptimerflag,Ts); motor1.setPosition(200.0); - motor2.setPosition(0); + motor2.setPosition(16.32); + x=0; y=0; @@ -72,29 +73,32 @@ //x = (potmeter1.read()*297.0); //y = (potmeter2.read()*210.0); - x = sin(inputsinus)*297; + x = sin(inputsinus)*297.0; y = 0; - inputsinus = inputsinus + (Ts*1)*pi; + inputsinus = inputsinus + (Ts*0.1)*pi; //Binnen berijk blijven - if (y>210) { - y=210 + if (y>210.0) { + y=210.0; } - if(y<=0) { - y=0 + if(y<=0.0) { + y=0.0; } - if(x>297) { - x=297 + if(x>297.0) { + x=297.0; } - if(x<=0) { - x=0 + if(x<=0.0) { + x=0.0; } - // Omzetten hoek en straal - theta = atan(y/x)+0.25*pi; - r = (sqrt(x*x+y*y)) ;// * (2577/461.335); + // Omzetten hoek en straal + //theta = atan(y/x)+0.25*pi; + //r = (sqrt(x*x+y*y)) ;// * (2577/461.335); + + theta = atan((y+69.80)/(x+69.80)); + r = (sqrt(x*x+y*y+139.60*x + 139.6*y+784.0)); theta_pen = motor1.getPosition() * ((.5*pi)/400.0);