Diff: main.cpp

Revision:

6:f260176f704b

Parent:

5:e4b9cc904928

Child:

7:697293226e5e

--- a/main.cpp	Wed Oct 22 14:08:43 2014 +0000
+++ b/main.cpp	Thu Oct 23 10:26:25 2014 +0000
@@ -2,7 +2,7 @@
 #include "encoder.h"
 #include "HIDScope.h"
 
-#define TSAMP 0.01
+#define TSAMP 0.005
 #define K_P (0.1)
 #define K_I (0.03  *TSAMP)
 #define K_D (0.001 /TSAMP)
@@ -38,23 +38,26 @@
 
     //motor 25D
     Encoder motor1(PTD3,PTD5); //wit, geel
-    PwmOut pwm_motor1(M2_PWM); // PTC8, blauw,  /*PwmOut to motor driver*/
+    PwmOut pwm_motor1(M2_PWM); //
     pwm_motor1.period_us(75); //10kHz PWM frequency
-    DigitalOut motordir1(M2_DIR); //PTC9, groen
+    DigitalOut motordir1(M2_DIR);
 
 //motor2 37D
     Encoder motor2(PTD2, PTD0); //wit, geel
-    PwmOut pwm_motor2(M1_PWM); //PTA5, blauw
+    PwmOut pwm_motor2(M1_PWM);
     pwm_motor2.period_us(75);
-    DigitalOut motordir2(M1_DIR); //PTA4, groen
+    DigitalOut motordir2(M1_DIR);
 
-    char c ='0';
+    //char c ='0';
     while(1) {
+        wait(13);
         pwm_motor1.write(1);
-        motordir1.write(1);
+
+
+
 
         wait(0.01);
-        scope.set(0, motor1.getposition());
+        scope.set(0, motor1.getPosition());
         scope.set(1, motor2.getPosition());
         scope.send();
         /*do {
@@ -69,7 +72,6 @@
         motordir1.write(0);
         wait(3);
 
-    }*/
+        }*/
+    }
 }
-
-