Diff: main.cpp

Revision:

22:b29ba919d93e

Parent:

21:6954cc25f2a7

Child:

23:1c4a18799464

--- a/main.cpp	Tue Oct 20 13:51:30 2015 +0000
+++ b/main.cpp	Tue Oct 20 13:56:29 2015 +0000
@@ -51,6 +51,8 @@
 
 const double Ts_control=1.0/control_frequency;
 
+float error1=0;
+float error2=0;
 float error1_int=0;// storage variables for the errors
 float error2_int=0;
 float error1_prev=0;
@@ -155,6 +157,8 @@
     scope.set(0,desired_position);
     scope.set(1,desired_angle1);
     scope.set(2,desired_angle2);
+    scope.set(3,error1);
+    scope.set(4,error2);
     scope.send();
 }
 //read potmeters and adjust the safetyfactor and threshold
@@ -244,8 +248,8 @@
         desired_angle1=anglepos.positiontoangle1(desired_position,y_during_punch);// calculate desired angles
         desired_angle2=anglepos.positiontoangle2(desired_position,y_during_punch);
 
-        float error1=(desired_angle1-counttorad*encoder1.getPulses());//calculate errors
-        float error2=(desired_angle2-counttorad*encoder2.getPulses());
+         error1=(desired_angle1-counttorad*encoder1.getPulses());//calculate errors
+         error2=(desired_angle2-counttorad*encoder2.getPulses());
 
         mycontroller.PI(error1,error2,Kp,Ki,Ts_control,error1_int,error2_int);// send errors to controller
         scopedata();//send data to hidscope   WARING lower freqyency than normal
@@ -416,8 +420,8 @@
                 }
             }
              if (control_go==true) {// calculate errors and send them to controllers
-                float error1=(desired_angle1-counttorad*encoder1.getPulses());
-                float error2=0;
+                 error1=(desired_angle1-counttorad*encoder1.getPulses());
+                 error2=0;
                 mycontroller.PI(error1,error2,Kp,Ki,Ts_control,error1_int,error2_int);
                 control_go=false;
             }
@@ -445,8 +449,8 @@
                 }
             }
              if (control_go==true) {// calculate errors and send to controller
-                float error1=0;
-                float error2=(desired_angle2-counttorad*encoder2.getPulses());
+                 error1=0;
+                 error2=(desired_angle2-counttorad*encoder2.getPulses());
                 mycontroller.PI(error1,error2,Kp,Ki,Ts_control,error1_int,error2_int);
                 control_go=false;
             }
@@ -473,8 +477,8 @@
                 desired_angle1=anglepos.positiontoangle1(desired_position,y_start);
                 desired_angle2=anglepos.positiontoangle2(desired_position,y_start);
 
-                float error1=(desired_angle1-counttorad*encoder1.getPulses());
-                float error2=(desired_angle2-counttorad*encoder2.getPulses());
+                 error1=(desired_angle1-counttorad*encoder1.getPulses());
+                 error2=(desired_angle2-counttorad*encoder2.getPulses());
                 mycontroller.PI(error1,error2,Kp,Ki,Ts_control,error1_int,error2_int);
                 control_go=false;
             }