From 5dad9a6f6d22b525bf5935ce6381a87c5dc3078e Mon Sep 17 00:00:00 2001
From: Thefeli73 <thefeli73@hotmail.com>
Date: Wed, 21 Apr 2021 15:28:44 +0200
Subject: [PATCH] =?UTF-8?q?fixa=20kommentar,=20=C3=A4ndra=20i=20funktion?=
 =?UTF-8?q?=20som=20inte=20anv=C3=A4nds=20f=C3=B6r=20att=20testa?=
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---
 EENX15_LQR/EENX15_LQR.ino | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/EENX15_LQR/EENX15_LQR.ino b/EENX15_LQR/EENX15_LQR.ino
index 79590fe..7cd86ce 100644
--- a/EENX15_LQR/EENX15_LQR.ino
+++ b/EENX15_LQR/EENX15_LQR.ino
@@ -114,7 +114,7 @@ void loop() {
     getSpeed();
     setSpeed();
   }
-  if (m - lastPrintTime >= slowTimer) { //run this code ever 800ms (1.25hz)
+  if (m - lastPrintTime >= slowTimer) { //run this code every
     lastPrintTime = m;
     //set_test_speed();
     printInfo();
@@ -150,7 +150,11 @@ void printInfo(){
 /*
 int temp_counter = 0;
 void set_test_speed(){
+  digitalWrite(MotorPinB, CCW);
+  digitalWrite(MotorPinA, CW);
   speed = temp_counter;
+  Serial.print("Speed pre calc: "); Serial.println(speed); //ca. 56 tick per rotation, 6.26 rads per rotation
+  speed = 3145.84/(pow((90.75 - speed),1.00715));
   speed = constrain(speed, 0, 255);
   analogWrite(MotorSpeedB, speed); //Wheel close to connections
   analogWrite(MotorSpeedA, speed); //First experiment wheel