sibren vuurberg / Mbed 2 deprecated Project_code_groep12

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Dependencies:   MODSERIAL QEI mbed

Fork of EMG_check by sibren vuurberg

Files at this revision

API Documentation at this revision

Revision 18:cd292bac4524, committed 2016-10-19

Comitter:
sivuu
Date:
Wed Oct 19 15:33:19 2016 +0000
Parent:
17:f44f41cab151
Commit message:
met eerste poging van de snelheids controlle en regulatie

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Wed Oct 19 15:31:31 2016 +0000
+++ b/main.cpp	Wed Oct 19 15:33:19 2016 +0000
@@ -102,6 +102,22 @@
         snelheid_motor2 = ((current_position_motor2 - previous_position_motor2)*6.28318530718) / ticker_TS;
         pc.printf("snelheid motor 2 is: %f \r\n", snelheid_motor2);
         
+    if (snelheid_motor1 > 4.9) && (snelheid_motor1 != 0){  // dit moet ook in minder if loops kunnen moet nog ff uitvogelen hoe
+     a=a-0.02;
+    }
+   else if (snelheid_motor1 < 4.9) && (snelheid_motor1 != 0){
+     a=a+0.02;
+    }
+     if (snelheid_motor2 > 4.9) && (snelheid_motor2 != 0){
+     b=b-0.02;
+    }
+   else if (snelheid_motor2 < 4.9) && (snelheid_motor2 != 0){
+     b=b+0.02;
+    }
+     else {
+        a=a;
+        b=b;
+        }
         
         tickerflag = 0;
         }
@@ -144,6 +160,23 @@
         snelheid_motor2 = ((current_position_motor2 - previous_position_motor2)*6.28318530718) / ticker_TS;
         pc.printf("snelheid motor 2 is: %f \r\n", snelheid_motor2);
         
+        if (snelheid_motor1 > 4.9) && (snelheid_motor1 != 0){  // dit moet ook in minder if loops kunnen moet nog ff uitvogelen hoe
+     a=a-0.02;
+    }
+   else if (snelheid_motor1 < 4.9) && (snelheid_motor1 != 0){
+     a=a+0.02;
+    }
+     if (snelheid_motor2 > 4.9) && (snelheid_motor2 != 0){
+     b=b-0.02;
+    }
+   else if (snelheid_motor2 < 4.9) && (snelheid_motor2 != 0){
+     b=b+0.02;
+    }
+     else {
+        a=a;
+        b=b;
+        }
+        
         tickerflag = 0;
         }
     }