Diff: main.cpp

Revision:

2:0d6718386397

Parent:

1:3d924dfe29d6

Child:

3:f850f53ff658

diff -r 3d924dfe29d6 -r 0d6718386397 main.cpp
--- a/main.cpp	Wed Nov 27 18:13:30 2019 +0000
+++ b/main.cpp	Tue Dec 03 02:05:28 2019 +0000
@@ -59,7 +59,7 @@
 }
 
 int main() {
-    float janela[4] = {0, 0, 0, 0};
+    float janela;//[4] = {0, 0, 0, 0};
     float angulo_degree = 0;
     float angulo_media;
     float P = 0.002; //v4 3*0.001;//3*0.00001;
@@ -102,6 +102,7 @@
          {
             loopFlag = 0;
             int k = 0;
+            janela = 0;
             while (k < 4){
                 angle =  encoder.read_u16()>>4; //Tensão em 12 bits
                 /******
@@ -110,11 +111,11 @@
                 ************/
                 angulo_V = 0.000806*angle;
                 angulo_degree = 27.779*angulo_V - 41.1;
-                janela[k] = angulo_degree;
+                janela = janela + angulo_degree;
                 k++;
                 } 
 
-            angulo_media = (janela[0]+janela[1]+janela[2]+janela[3])/4;
+            angulo_media = janela/k; //(janela[0]+janela[1]+janela[2]+janela[3])/4;
             e_anterior = e_atual;
             e_atual = -(angulo_media - ref);
             CP = P * e_atual;