Diff: main.cpp

Revision:

15:2d2278caf861

Parent:

14:b1de410384c2

Child:

16:9e4f61aab351

--- a/main.cpp	Mon Nov 03 22:34:24 2014 +0000
+++ b/main.cpp	Mon Nov 03 23:11:57 2014 +0000
@@ -25,7 +25,7 @@
 #define M2_DIR PTC9
 /*Definieren om de hoeveel seconden er gegevens naar de HID-scope gestuurd worden.*/
 #define TSAMP 0.005
-#define K_P (5000)
+#define K_P (2000)
 #define K_I (0)
 #define K_D (0.1)
 #define K_P_motor2 (75)
@@ -222,14 +222,14 @@
 {
     static float setpoint = 0; 
     if (setpoint < position_setpoint_rad) {
-        setpoint += (TSAMP * speed_radpersecond);
+        setpoint += (0.005 * speed_radpersecond);
         if (setpoint > position_setpoint_rad) {
             setpoint = position_setpoint_rad;
         }
     }
 
     else if (setpoint > position_setpoint_rad) {
-        setpoint -= (TSAMP * speed_radpersecond);
+        setpoint -= (0.005 * speed_radpersecond);
         if (setpoint < position_setpoint_rad) {
             setpoint = position_setpoint_rad;
         }
@@ -450,7 +450,7 @@
         }//case INSTELLEN_RICHTING
 
         case SLAAN: {
-            GotoPosition(1.5 ,8);
+            GotoPosition(1.9 ,1000);
             if (current_herhalingen == 400) {
                 current_herhalingen = 0;
                 previous_herhalingen = 0;
@@ -463,7 +463,7 @@
 
         case RETURN2RUST: {
             //translatie(0,10,0.1);
-            GotoPosition(0,1);
+            GotoPosition(0,0.25);
             doel_richting = 0;
             doel_hoogte = 0;
             if (current_herhalingen >= 200 && current_herhalingen_1 >= 200) {