Diff: Motor.cpp

Revision:

12:69a9cf74583e

Parent:

11:dd1976534a03

Child:

13:559f8946f16d

--- a/Motor.cpp	Mon Oct 30 15:32:27 2017 +0000
+++ b/Motor.cpp	Mon Oct 30 16:28:21 2017 +0000
@@ -7,7 +7,7 @@
     _Encoder.QEI::reset(); 
     frequency=50000;
     set_period(frequency);
-    angle=45; 
+    angle=90; 
     safety_angle = 120; //safety angle in DEGREES
     _direction= 1;
     low_PWM = 0.6; 
@@ -19,7 +19,7 @@
     _Encoder.QEI::reset(); 
     frequency=freq;
     set_period(frequency);
-    angle= 45;
+    angle= 90;
     safety_angle = safe;    
     _direction= 1;
     low_PWM= low;
@@ -36,7 +36,7 @@
     
     int n_pulse= _Encoder.QEI::getPulses();  
      
-    angle = 45 + ((n_pulse)*(360/32))/131;                      // get angle  (131 is the gear ratio of the motor in order to work in degrees of the actual arm) 
+    angle = 90 + ((n_pulse)*(360/32))/131;                      // get angle  (131 is the gear ratio of the motor in order to work in degrees of the actual arm) 
     return angle;
 }
 
@@ -46,10 +46,10 @@
     //float step = 360/(32*131);                               
     //control_angle = control_angle - fmodf(control_angle, step) ;  //changle control angle to posible angles of the sensor
     
-    if(control_angle > safety_angle+45)
-        control_angle = safety_angle+45; 
-    if(control_angle < -safety_angle+45)
-        control_angle = -safety_angle+45;
+    if(control_angle > safety_angle+90)
+        control_angle = safety_angle+90; 
+    if(control_angle < -safety_angle+90)
+        control_angle = -safety_angle+90;
         
     double error = angle - control_angle;                //set error probably need some kind of PID