Diff: main.cpp

Revision:

16:f4df06bf58ab

Parent:

15:7d142004b400

Child:

17:3ddab322341a

diff -r 7d142004b400 -r f4df06bf58ab main.cpp
--- a/main.cpp	Wed Oct 29 11:15:59 2014 +0000
+++ b/main.cpp	Wed Oct 29 12:57:25 2014 +0000
@@ -64,7 +64,6 @@
     float error;
     float           out_p = 0;
     static float    out_i = 0;
-    setpoint = 126;
     error  = setpoint - measurement;
     out_p  = error*K_P;
     out_i += error*K_I;
@@ -75,7 +74,11 @@
 
 int main()
 {
-    
+    Ticker log_timer;
+    Ticker timer;
+    log_timer.attach(looper, TSAMP);
+    timer.attach(&attime, 7);
+
     //motor1
     /*speed1 = 0.7;
     hoek1 = 0.09; //in seconde
@@ -108,24 +111,20 @@
     speed2 = 1;
     motordir1=1;
     pwm_motor1.write(0.3); //Deze snelheid kan lager worden ingesteld om accurator te zijn.
-    wait(0.26);             //naar 140 graden
+    wait(0.3);             //naar 140 graden
     pwm_motor1.write(0);    //CCW
     wait(1);
     motordir1=0;
     pwm_motor1.write(speed2); //Deze snelheid moet maximaal om het balletje te slaan.
-    wait(0.16);             //balletje slaan, 160 graden
+    wait(0.20);             //balletje slaan, 160 graden
     pwm_motor1.write(0);
     wait(1);
     motordir1=1;            //CW
     pwm_motor1.write(0.1); //Deze kan lager worden ingesteld om accurater terug te gaan.
-    wait(0.87);            //terug naar begin positie, 20 graden
+    wait(1);            //terug naar begin positie, 20 graden
     pwm_motor1.write(0); 
 
-    Ticker log_timer;
-    Ticker timer;
-    log_timer.attach(looper, TSAMP);
-    timer.attach(&attime, 7);
-
+    
     pc.baud(115200);
     while(1) {
         wait(0.2);