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Diffstat (limited to 'Year_3/LSM/ex_20190218.c')
-rw-r--r--Year_3/LSM/ex_20190218.c8
1 files changed, 6 insertions, 2 deletions
diff --git a/Year_3/LSM/ex_20190218.c b/Year_3/LSM/ex_20190218.c
index e43afd8..ac3bc45 100644
--- a/Year_3/LSM/ex_20190218.c
+++ b/Year_3/LSM/ex_20190218.c
@@ -13,7 +13,7 @@ typedef enum {
status_t status = RUN;
float real_root = 0;
float new_want_root = 0;
-float want_root = 0;
+float want_root = 180;
double rotation = 1;
@@ -37,7 +37,7 @@ init()
TIM_init(TIM2);
TIM_set(TIM2, 0);
TIM_on(TIM2);
- TIM_config_timebase(TIM2, 8400, 840);
+ TIM_config_timebase(TIM2, 8400, 100);
TIM_enable_irq(TIM2, IRQ_UPDATE);
ADC_init(ADC1, ADC_RES_12, ADC_ALIGN_RIGHT);
@@ -66,6 +66,10 @@ main()
adc_read = (2 * adc_read) / 4095;
real_root -= ((adc_read * 2) * (1.0 * rand()) / RAND_MAX - adc_read);
+ if (real_root > 180)
+ real_root = 180;
+ else if (real_root < -180)
+ real_root = -180;
printf("%f %f %f\n", rotation, real_root, want_root);
sprintf(s, "%f", real_root);