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functions to print and set speed

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This commit is contained in:
Thefeli73 2021-04-14 01:55:14 +02:00
parent 053d2b9726
commit 2712a72b75
1 changed files with 15 additions and 13 deletions
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12
EENX15_LQR/EENX15_LQR.ino
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@ -116,20 +116,22 @@ void loop() {
printInfo(); printInfo();
} }
} }
void printInfo(){
Serial.println(""); Serial.println("");
Serial.print("pitch Angle = "); Serial.println(angle_pitch_output); Serial.print("pitch Angle = "); Serial.println(angle_pitch_output);
Serial.print("pitch Angle abs = "); Serial.println(abs(safe_angle)); Serial.print("pitch Angle abs = "); Serial.println(abs(safe_angle));
Serial.print("pitch Angle measured = "); Serial.println(angle_pitch); Serial.print("pitch Angle measured = "); Serial.println(angle_pitch);
Serial.print("Position: "); Serial.println(countA); Serial.print("Position: "); Serial.println(countA);
Serial.print("Full Rotations: "); Serial.println(countA/56.0); //ca. 56 tick per rotation
Serial.print("Rads rotated: "); Serial.println(countA/8.91); //ca. 56 tick per rotation, 6.26 rads per rotation
Serial.print("RPM: "); Serial.println(rpm); //ca. 56 tick per rotation
Serial.print("Rads per second: "); Serial.println(rps); //ca. 56 tick per rotation, 6.26 rads per rotation
//Serial.print("A: "); Serial.println(countA); //Serial.print("A: "); Serial.println(countA);
//Serial.print("B: "); Serial.println(countB); //Serial.print("B: "); Serial.println(countB);
temp_loops = 0;
}
else {
temp_loops++;
} }
void setSpeed(){
if(abs(safe_angle)<50 ){ if(abs(safe_angle)<50 ){
speed = 8*safe_angle; speed = 8*safe_angle;
if(speed<0){ if(speed<0){