Diff: main.cpp

Revision:

7:37b06688b449

Parent:

6:0832c6c6bcba

Child:

8:15c6cb82c725

--- a/main.cpp	Mon Sep 29 21:39:29 2014 +0000
+++ b/main.cpp	Tue Sep 30 20:30:35 2014 +0000
@@ -1,13 +1,11 @@
 #include "mbed.h"
 #include "encoder.h"
-//#include "MODSERIAL.h"
 #include "HIDScope.h"
 
-
 #define TSAMP 0.01
-#define K_P (10     *TSAMP)
+#define K_P (2     *TSAMP)
 #define K_I (0.00   *TSAMP)
-#define K_D (5      *TSAMP)
+#define K_D (0      *TSAMP)
 
 #define POT_AVG 50
 
@@ -16,7 +14,7 @@
 AnalogIn potmeter(PTC2);
 volatile bool looptimerflag;
 float potsamples[POT_AVG];
-HIDScope scope(4);
+HIDScope scope(5);
 
 
 void setlooptimerflag(void)
@@ -24,6 +22,7 @@
     looptimerflag = true;
 }
 
+/*
 void potAverager(void)
 {
     static uint16_t sample_index = 0;
@@ -46,20 +45,20 @@
      }
     return sum / (POT_AVG*1.);
 }
+*/
 
 int main()
 {
     //start Encoder
     Encoder motor1(PTD0,PTC9);
     //Ticker to average potmeter values
-    Ticker potaverage;
-    //MODSERIAL pc(USBTX,USBRX);
-    PwmOut pwm_motor(PTA12);
+  //  Ticker potaverage;
+    /*PwmOut to motor driver*/
+    PwmOut pwm_motor(PTA5);
     //10kHz PWM frequency
     pwm_motor.period_us(100);
-    DigitalOut motordir(PTD3);
-    potaverage.attach(potAverager,0.002);
-    //pc.baud(921600);
+    DigitalOut motordir(PTD1);
+//    potaverage.attach(potAverager,0.002);
     Ticker looptimer;
     looptimer.attach(setlooptimerflag,TSAMP);
     while(1) {
@@ -67,19 +66,19 @@
         float new_pwm;
         while(!looptimerflag);
         looptimerflag = false;
-        setpoint = (getpotAverage())*2000;
+        setpoint = (potmeter.read()-.5)*2000;
         //new_pwm = (setpoint - motor1.getPosition())*.001;
         new_pwm = pid(setpoint, motor1.getPosition());
         coerce(&new_pwm, -1,1);
+        scope.set(4,motor1.getPosition());
         scope.set(0, setpoint);
         scope.set(1,new_pwm);
         // ch 2 and 3 set in pid controller */
         scope.send();
-        //pc.printf("%f %f %f 0\n", setpoint/2000.+0.5, motor1.getPosition()/2000.+.5,new_pwm/2.+0.5);
         if(new_pwm > 0)
+            motordir = 0;
+        else
             motordir = 1;
-        else
-            motordir = 0;
         pwm_motor.write(abs(new_pwm));
     }
 }