Diff: main.cpp

Revision:

59:a5442a3811ed

Parent:

58:9a56581d5298

Child:

60:c4cf57749f2e

--- a/main.cpp	Mon Nov 03 18:12:46 2014 +0000
+++ b/main.cpp	Mon Nov 03 20:48:51 2014 +0000
@@ -11,14 +11,14 @@
 #define I_LIMIT 1.
 #define K_Pp (0.003) //-------------------------------Deze drie waarden moeten anders!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
 #define K_Ip (0.0  *TSAMP2)//-----------------------------TSAMP1 veranderd naar TSAMP2
-#define K_Dp (0.0000003  /TSAMP2)//--------------------------------TSAMP1 veranderd naar TSAMP2
+#define K_Dp (0.000003  /TSAMP2)//--------------------------------TSAMP1 veranderd naar TSAMP2
 
 #define TSAMP1 0.01
 #define TSAMP2 0.01
 #define WACHTEN 1
 #define SLAAN 2
 #define TERUGKEREN 3
-#define ANGLEMAX -50
+#define ANGLEMAX -280
 #define ANGLEMIN 0
 
 //initiating functions
@@ -85,7 +85,7 @@
 float new_pwm;
 float PWM2 = 0.3; //PWM voor instellen hoek batje, kan waarschijnlijk een stuk langzamer
 int toestand = WACHTEN; //terugkeren?
-float setspeed = 0, V3=80, V2=40, V1 =30;//V in counts/s
+float setspeed = 0, V3=150, V2=40, V1 =30;//V in counts/s
 
 
 Encoder motor1(PTD5,PTD3, true);
@@ -342,8 +342,8 @@
 
             // *** INPUT MOTOR 2 ***
             positie=yT1+yT2; */
-
-            /* //controle positie op scherm
+positie=1;
+            //controle positie op scherm
             if (positie==0) {
                 pc.printf("Motor 2 blijft op stand 1\n");
             } else {
@@ -360,8 +360,8 @@
             looptimer2.attach(motor2aansturing,TSAMP1);
             wait(8);
             looptimer2.detach();
-            pc.printf("Detach Motor 1\n");
-            */
+            pc.printf("Detach Motor 2\n");
+            
 
             //        ------------------------------------------------------------------------------------------------------------------------------- eind aansturing motor 2
             wait(2);
@@ -678,11 +678,11 @@
             }
             break;
         case 1:
-            if (motor2.getPosition()>= 2) {
+            if (motor2.getPosition()>= 0) {
                 motordir2 = 1;
                 pwm_motor2.write(PWM2);
             }
-            if (motor2.getPosition()<= 2) {
+            if (motor2.getPosition()<= 20) {
                 motordir2 = 0;
                 pwm_motor2.write(PWM2);
             } else {
@@ -710,7 +710,7 @@
         case SLAAN:
             pc.printf("SLAAN\n");
             new_pwm = pid(setspeed, omega);
-            pwm_motor1.write(new_pwm);
+            pwm_motor1.write(0.8); //===================================================================================================
             motordir1 = 1;
             if (motor1.getPosition() <= ANGLEMAX) {
                 toestand = TERUGKEREN;