Diff: main.cpp

Revision:

12:19ea553567a3

Parent:

11:afe2140e469e

Child:

13:0d4bc34e410f

--- a/main.cpp	Wed Oct 01 11:50:54 2014 +0000
+++ b/main.cpp	Tue Oct 07 08:19:17 2014 +0000
@@ -5,14 +5,18 @@
 #define TSAMP 0.01
 #define K_P (0.1)
 #define K_I (0.03  *TSAMP)
-#define K_D (0      /TSAMP)
+#define K_D (0.001 /TSAMP)
 #define I_LIMIT 1.
 
+#define M1_PWM PTC8
+#define M1_DIR PTC9
+#define M2_PWM PTA5
+#define M2_DIR PTA4
+
 //#define POT_AVG 50
 
 void clamp(float * in, float min, float max);
 float pid(float setpoint, float measurement);
-AnalogIn potmeter(PTC2);
 volatile bool looptimerflag;
 //float potsamples[POT_AVG];
 HIDScope scope(6);
@@ -23,21 +27,20 @@
     looptimerflag = true;
 }
 
-
-
 int main()
 {
-    //start Encoder
-    Encoder motor1(PTD0,PTC9);
+    AnalogIn potmeter(PTC2);
+    //start Encoder-> first pin should be PTDx or PTAx, second pin doesn't matter
+    Encoder motor1(PTD0,PTA13);
     /*PwmOut to motor driver*/
-    PwmOut pwm_motor(PTA5);
+    PwmOut pwm_motor(M2_PWM);
     //10kHz PWM frequency
-    pwm_motor.period_us(100);
-    DigitalOut motordir(PTD1);
+    pwm_motor.period_us(75);
+    DigitalOut motordir(M2_DIR);
     Ticker looptimer;
     looptimer.attach(setlooptimerflag,TSAMP);
     while(1) {
-        float setpoint;
+        int16_t setpoint;
         float new_pwm;
         /*wait until timer has elapsed*/
         while(!looptimerflag);
@@ -52,7 +55,7 @@
         scope.set(5, motor1.getPosition());
         // ch 1, 2 and 3 set in pid controller */
         scope.send();
-        if(new_pwm > 0)
+        if(new_pwm < 0)
             motordir = 0;
         else
             motordir = 1;