codevoor esther
Dependencies: Encoder MODSERIAL mbed
Diff: main.cpp
- Revision:
- 8:e3e972c4e249
- Parent:
- 7:422b8ec97278
- Child:
- 9:ca6c6295b5f1
diff -r 422b8ec97278 -r e3e972c4e249 main.cpp --- a/main.cpp Mon Nov 04 20:29:01 2013 +0000 +++ b/main.cpp Mon Nov 04 21:05:55 2013 +0000 @@ -55,7 +55,7 @@ looptimer.attach(setlooptimerflag,Ts); motor1.setPosition(200.0); - motor2.setPosition(16.32); + motor2.setPosition(597.15); x=0; y=0; @@ -78,7 +78,7 @@ inputsinus = inputsinus + (Ts*0.1)*pi; - //Binnen berijk blijven + //Binnen bereik blijven if (y>210.0) { y=210.0; @@ -98,11 +98,11 @@ //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)); + r = sqrt( ((x + 69.8)*(x + 69.8))+ ((y + 69.8)*(y + 69.8)) ); theta_pen = motor1.getPosition() * ((.5*pi)/400.0); - r_pen = motor2.getPosition() * (363.0/2196.0); + r_pen = motor2.getPosition() * (461.34/2790.13); dtheta = (theta - theta_pen);