Assignment 1 compiled
Dependencies: FastPWM MODSERIAL QEI mbed
Fork of gr14_assignment_PES by
Diff: main.cpp
- Revision:
- 2:7a8531d95f0b
- Parent:
- 1:a602cde74178
--- a/main.cpp Mon Oct 15 10:35:37 2018 +0000 +++ b/main.cpp Mon Oct 15 12:19:49 2018 +0000 @@ -18,7 +18,7 @@ Ticker MotorTicker; -void read_pots(double &pot1_value, double &pot2_value) // read pot 1 en pot 2 +void read_pots(volatile double &pot1_value, volatile double &pot2_value) // read pot 1 en pot 2 { pot1_value = pot1.read(); pot2_value = pot2.read(); @@ -34,7 +34,7 @@ return encoder1.getPulses()/32.0/131.25*2.0*3.1416; } -double PID_controller (meas_pos, ref_pos, gain) +double PID_controller (double meas_pos, double ref_pos, double gain) { double error = ref_pos - meas_pos; @@ -48,7 +48,7 @@ else if (u < -1.0) { - u = -1.0); + u = -1.0; } return u; } @@ -72,7 +72,9 @@ void Motor_control() { - volatile double pot_value, volatile double gain; + volatile double pot_value; + + volatile double gain; read_pots(pot_value, gain); @@ -88,7 +90,7 @@ if (count == 400) // print 1x per seconde waardes. { - pc.printf("u = %d, measure position y = %d, reference position yref = %d, gain = %d", u, y, yref, gain); + pc.printf("u = %lf, measure position y = %lf, reference position yref = %lf, gain = %lf \n", u, y, yref, gain); count = 0; } }