Diff: main.cpp

Revision:

5:d1c6f7fef412

Parent:

4:aaccb2782849

Child:

6:35d5bab53f44

--- a/main.cpp	Fri Jun 17 07:34:18 2016 +0000
+++ b/main.cpp	Fri Jun 17 10:14:23 2016 +0000
@@ -69,9 +69,9 @@
 // The data read and send function
 void scopeSend()
 {
-    scope.set(0,Ref2); //Force_nieuw);
+    scope.set(0,Ref2); // Force_nieuw);
     scope.set(1,Y_filtder);
-    scope.set(2,Plaats_der);
+    scope.set(2,Output); //Plaats_der);
     scope.set(3,Input);
     scope.set(4,A);
     scope.send();
@@ -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<=3.0 or Referentie2>=9.2) {
+    if (Referentie2<=2.5 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 = 0.01*fabs(Output);
+        motor1speed = fabs(Output);
     }
 }
 
@@ -220,7 +220,7 @@
         Error = Errorberekening(Ref2, Input);
         Ref_der = Referentie2-Ref_prev;
         Ref_prev = Referentie2;
-        Output = PID_controller(Error,3,2,1,0.01, Error_prev, Error_int);
+        Output = PID_controller(Error,0.5,0.1,0.01,0.01, Error_prev, Error_int);
         Motor_controller();
         if (LoopTimerFlag2==1) {
             Afgeleide_Force();