schulze/EENX15
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This commit is contained in:
Thefeli73 2021-04-14 01:52:34 +02:00
parent 14a8734084
commit 40db36a016
2 changed files with 10 additions and 11 deletions
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13
EENX15_LQR/EENX15_LQR.ino
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@ -94,21 +94,12 @@ void setup() {
pinMode(MotorPinB, OUTPUT); pinMode(MotorPinB, OUTPUT);
pinMode(MotorSpeedB, OUTPUT); pinMode(MotorSpeedB, OUTPUT);
pinMode(MotorBrakeB, OUTPUT); pinMode(MotorBrakeB, OUTPUT);
half_revolutionsA = 0;
rpmA = 0;
timeoldA = 0;
half_revolutionsB = 0;
rpmB = 0;
timeoldB = 0;
} }
void loop() { void loop() {
gyro_loop(); gyro_loop();
safe_angle = int(round(angle_pitch_output)); safe_angle = int(round(angle_pitch_output));
if(temp_loops>250){ if(temp_loops>250){
Serial.println(""); Serial.println("");
Serial.print(" pitch Angle = "); Serial.println(angle_pitch_output); Serial.print(" pitch Angle = "); Serial.println(angle_pitch_output);

8
EENX15_LQR/gyro.ino
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@ -79,6 +79,14 @@ void gyro_setup(){
delay(100); delay(100);
calibrateGyro(); calibrateGyro();
half_revolutionsA = 0;
rpmA = 0;
timeoldA = 0;
half_revolutionsB = 0;
rpmB = 0;
timeoldB = 0;
} }
void gyro_loop(){ void gyro_loop(){