Diff: main.cpp

Revision:

4:aaccb2782849

Parent:

2:f5bb7fcfc7a2

Child:

5:d1c6f7fef412

--- a/main.cpp	Thu Jun 09 15:34:51 2016 +0000
+++ b/main.cpp	Fri Jun 17 07:34:18 2016 +0000
@@ -69,7 +69,7 @@
 // The data read and send function
 void scopeSend()
 {
-    scope.set(0,Force_nieuw);
+    scope.set(0,Ref2); //Force_nieuw);
     scope.set(1,Y_filtder);
     scope.set(2,Plaats_der);
     scope.set(3,Input);
@@ -93,7 +93,7 @@
 {
     double Y= 787.3008916207206*pow(A,4) -565.1143141517078*pow(A,3) + 122.8516837382677*pow(A,2) + 0.0556616744031*A + 0.0912411880277;
     Referentie2 = Filter4.step(Y);
-    if (Referentie2<=2.5 or Referentie2>=9.2) {
+    if (Referentie2<=3.0 or Referentie2>=9.2) {
         Led = 0;
         Referentie2 = B;
     }
@@ -197,7 +197,7 @@
         motor1speed = 0.2+fabs(Output);
     } else if (Output<0) {
         motor1direction.write(0);
-        motor1speed = 0.05*fabs(Output);
+        motor1speed = 0.01*fabs(Output);
     }
 }