Diff: main.cpp

Revision:

15:a73b5abd0696

Parent:

14:a8a69fee3fad

--- a/main.cpp	Thu Nov 02 15:11:19 2017 +0000
+++ b/main.cpp	Tue Nov 07 09:31:19 2017 +0000
@@ -196,10 +196,10 @@
 float position_math_l =0, position_math_r=0;
 
 void motor1_control(){
-    float reference_alpha = Angle.getbeta(max_rangex, max_rangey, x_offset, y_offset, beta_offset, L1, L2, position_math_l, position_math_r);
-    float position_alpha = RAD_PER_PULSE * encoder1.getPosition();
-    float error_alpha = reference_alpha-position_alpha;
-    float magnitude1 = PID.get(error_alpha, MOTOR1_KP, MOTOR1_KI, MOTOR1_KD, CONTROLLER_TS, M1_N, M1_v1, M1_v2) / motor1_gain;
+    float reference_beta = Angle.getbeta(max_rangex, max_rangey, x_offset, y_offset, beta_offset, L1, L2, position_math_l, position_math_r);
+    float position_beta = RAD_PER_PULSE * encoder1.getPosition();
+    float error_beta = reference_beta-position_beta;
+    float magnitude1 = PID.get(error_beta, MOTOR1_KP, MOTOR1_KI, MOTOR1_KD, CONTROLLER_TS, M1_N, M1_v1, M1_v2) / motor1_gain;
     //Determine Motor Magnitude
     if (fabs(magnitude1)>1) {
         motor1 = 1;
@@ -231,10 +231,10 @@
 const float M2_N = 0.5;
 
 void motor2_control(){
-    float reference_beta = Angle.getalpha(max_rangex, max_rangey, x_offset, y_offset, alpha_offset, L1, L2, position_math_l, position_math_r);
-    float position_beta = RAD_PER_PULSE * -encoder2.getPosition();
-    float error_beta = reference_beta-position_beta;
-    float magnitude2 = PID.get(error_beta, MOTOR2_KP, MOTOR2_KI, MOTOR2_KD, CONTROLLER_TS, M2_N, M1_v1, M1_v2) / motor2_gain;
+    float reference_alpha = Angle.getalpha(max_rangex, max_rangey, x_offset, y_offset, alpha_offset, L1, L2, position_math_l, position_math_r);
+    float position_alpha = RAD_PER_PULSE * -encoder2.getPosition();
+    float error_alpha = reference_alpha-position_alpha;
+    float magnitude2 = PID.get(error_alpha, MOTOR2_KP, MOTOR2_KI, MOTOR2_KD, CONTROLLER_TS, M2_N, M1_v1, M1_v2) / motor2_gain;
     //Determine Motor Magnitude
     if (fabs(magnitude2)>1) {
         motor2 = 1;