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;   
     }
 }