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fixa kommentar, ändra i funktion som inte används för att testa

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This commit is contained in:
Thefeli73 2021-04-21 15:28:44 +02:00
parent a8d4620cac
commit 5dad9a6f6d
1 changed files with 5 additions and 1 deletions
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6
EENX15_LQR/EENX15_LQR.ino
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@ -114,7 +114,7 @@ void loop() {
getSpeed(); getSpeed();
setSpeed(); setSpeed();
} }
if (m - lastPrintTime >= slowTimer) { //run this code ever 800ms (1.25hz) if (m - lastPrintTime >= slowTimer) { //run this code every
lastPrintTime = m; lastPrintTime = m;
//set_test_speed(); //set_test_speed();
printInfo(); printInfo();
@ -150,7 +150,11 @@ void printInfo(){
/* /*
int temp_counter = 0; int temp_counter = 0;
void set_test_speed(){ void set_test_speed(){
digitalWrite(MotorPinB, CCW);
digitalWrite(MotorPinA, CW);
speed = temp_counter; 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); speed = constrain(speed, 0, 255);
analogWrite(MotorSpeedB, speed); //Wheel close to connections analogWrite(MotorSpeedB, speed); //Wheel close to connections
analogWrite(MotorSpeedA, speed); //First experiment wheel analogWrite(MotorSpeedA, speed); //First experiment wheel