Gerjan Wolterink
/
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Dependencies: Encoder MODSERIAL mbed
Revision 1:0db79ea80741, committed 2013-11-04
- Comitter:
- gerjan
- Date:
- Mon Nov 04 14:21:07 2013 +0000
- Parent:
- 0:155294201f36
- Child:
- 2:3987ed9570c8
- Commit message:
- vrijdag werkend;
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Fri Nov 01 15:34:03 2013 +0000
+++ b/main.cpp Mon Nov 04 14:21:07 2013 +0000
@@ -28,7 +28,6 @@
double theta, theta_pen, up_theta, kp_theta, kd_theta, dtheta, ei_theta, ui_theta, ki_theta, ed_theta, u_theta, ud_theta, theta_pwm;
double r, r_pen, up_r, kp_r, kd_r, dr, ei_r, ui_r, ki_r, ed_r, u_r, ud_r, r_pwm;
double motor1_maxu, motor2_maxu;
-
double Ts;
// Sample tijd
@@ -61,24 +60,24 @@
while(looptimerflag != true);
looptimerflag = false;
- x = (potmeter1.read()*297.0+69.8);
+ x = (potmeter1.read()*297.0+69.8)*-1.0;
y = (potmeter2.read()*210.0+69.8);
+ //x = x*10.0 + 69.8;
+ //y = y*10.0 + 69.8;
theta = atan(y/x) ;// * (400.0/(.5*pi));
r = (sqrt(x*x+y*y)) ;// * (2577/461.335);
theta_pen = motor1.getPosition() * ((.5*pi)/400);
- r_pen = motor2.getPosition() * (363/2577);
+ r_pen = motor2.getPosition() * (363.0/2577.0);
dtheta = (theta - theta_pen);
dr = (r - r_pen);
- dtheta =
-
- theta_pwm = (dtheta)*0.001;
+ theta_pwm = (dtheta)*0.5;
r_pwm = (dr)*0.001;
//NAAR MOTOR
@@ -108,7 +107,7 @@
motor2dir.write(0);
// print naar pc
- pc.printf("t=%.3f dt=%.3f tpwm=%.3f\n", theta, dtheta, theta_pwm);
+ pc.printf("t=%.3f dt=%.3f tpwm=%.3f | r=%.3f dr=%.3f rpwm=%.3f\n", theta, dtheta, theta_pwm, r, dr, r_pwm);
//schrijf PWM naar motor
pwm_motor1.write(abs(theta_pwm));