Diff: main.cpp

Revision:

4:4d54794b99a5

Parent:

3:2235787e78c4

Child:

5:7f800f61cb13

--- a/main.cpp	Tue Mar 29 12:54:12 2016 +0000
+++ b/main.cpp	Tue Mar 29 14:33:57 2016 +0000
@@ -6,8 +6,12 @@
 Serial pc(USBTX, USBRX);
 
 Encoder e(PA_0, PA_1);
-PIDController ec(0.01f);
-EncoderMotor m(PB_0, PC_0, PC_1, e, ec);
+//PIDController ec(0.2, 0.1, 0.01);
+//PIDController ec(0.3, 2.0, 0.02);
+//PIDController ec(0.75, 2.0, 0.015);
+PIDController ec(0.8, 1.5, 0.017);
+EncoderMotor m(PB_0, PC_1, PC_0, e, ec);
+//Motor m(PB_0, PC_1, PC_0);
 
 void rise()
 {
@@ -18,7 +22,7 @@
 void fall()
 {
     pc.printf("fall\n");
-    m.drive(-380);
+    m.drive(0.5);
 }
 
 int main()
@@ -30,7 +34,8 @@
     
     while(1)
     {
-        pc.printf("%d %d %f\n", e.getCount(), m.getSpeed(), m.out);
-        wait(0.1);
+        //pc.printf("%d %f %f\n", e.getCount(), m.speed, m.out);
+        //wait(0.1);
+        pc.scanf("%f %f %f", &ec.Kp, &ec.Ki, &ec.Kd);
     }
 }
\ No newline at end of file