Thomas Plaisier / Mbed 2 deprecated G3_Barry_Plotter.

Eindversie. LU: 07-11-13.

Dependencies:   MODSERIAL mbed Encoder

Files at this revision

API Documentation at this revision

Revision 36:3fad1225c3ad, committed 2013-11-06

Comitter:
Socrates
Date:
Wed Nov 06 10:48:02 2013 +0000
Parent:
35:db3385976119
Child:
37:c6d753123173
Commit message:
Oefenen donderdag;

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Tue Nov 05 08:56:16 2013 +0000
+++ b/main.cpp	Wed Nov 06 10:48:02 2013 +0000
@@ -102,11 +102,11 @@
     kic=0.1*1.0;
     kp=1*0.1545;
     kd=1.0*2.8*pow(10.0,-3.0);
-    ki=0.1*1.0;
+    ki=0.05*1.0;
     rt=0.032805;
     gain=4.0;
     emggrens=0.35;
-    frictiona=0.7;
+    frictiona=0.65;
     frictionb=0.5;
     schrijfgainx=0.1;
     schrijfgainy=0.05;
@@ -178,7 +178,7 @@
             }
             pwm_B.write(abs(for_B));
             motordirB.write(Bdir);
-            if(errB<40) {
+            if(errB<90) {
                 calB=false;
                 pwm_B.write(0.0);
             }
@@ -217,6 +217,8 @@
 //Loop.
     wait(1);
     blueled.write(1.0);
+    //motor1.setPosition(515);
+    //motor2.setPosition(3565);
     while(meetflag==true) {
         while(looptimerflag != true);
         {