Kim Bruil / Mbed 2 deprecated r_robot

robot positie error test ding

Dependencies:   MODSERIAL mbed EMG_Input QEI biquadFilter

Diff: Motor/motor.cpp

Revision:
12:e591729e854a
Parent:
11:4382c567e0d4
--- a/Motor/motor.cpp	Fri Oct 28 07:35:36 2016 +0000
+++ b/Motor/motor.cpp	Fri Oct 28 09:45:31 2016 +0000
@@ -22,7 +22,7 @@
 }
 
 double motor::getPosition(void){
-    return(sense.getPulses()*(2*M_PI/8400.0));
+    return(flip?-sense.getPulses()*(2*M_PI/8400.0):sense.getPulses()*(2*M_PI/8400.0));
 }
 
 void motor::PID(double setpoint, double dt){
@@ -31,7 +31,7 @@
     double position;
     double pid;
     
-    position = flip?-this->getPosition():this->getPosition();
+    position = this->getPosition();
     error = setpoint - position;
     integral += error * dt;
     derivative = bqc.step((error - olderr) / dt);