From 1165a683e20c98aaf4dd9aaca5daaaa8dabf9573 Mon Sep 17 00:00:00 2001
From: Vincent M <vincent@meril.fr>
Date: Thu, 10 Mar 2016 18:02:07 +0100
Subject: [PATCH] nouvvelle version du code servostrap

---
 .../ServoStrapPortManipulationLD293D_1_3.ino} | 26 ++++++++++++-------
 1 file changed, 16 insertions(+), 10 deletions(-)
 rename Moteur DC/ServoStrap/{ServoStrapPortManipulationLD293D_1_2/ServoStrapPortManipulationLD293D_1_2.ino => ServoStrapPortManipulationLD293D_1_3/ServoStrapPortManipulationLD293D_1_3.ino} (94%)
 mode change 100755 => 100644

diff --git a/Moteur DC/ServoStrap/ServoStrapPortManipulationLD293D_1_2/ServoStrapPortManipulationLD293D_1_2.ino b/Moteur DC/ServoStrap/ServoStrapPortManipulationLD293D_1_3/ServoStrapPortManipulationLD293D_1_3.ino
old mode 100755
new mode 100644
similarity index 94%
rename from Moteur DC/ServoStrap/ServoStrapPortManipulationLD293D_1_2/ServoStrapPortManipulationLD293D_1_2.ino
rename to Moteur DC/ServoStrap/ServoStrapPortManipulationLD293D_1_3/ServoStrapPortManipulationLD293D_1_3.ino
index c6c53b4..04ae617
--- a/Moteur DC/ServoStrap/ServoStrapPortManipulationLD293D_1_2/ServoStrapPortManipulationLD293D_1_2.ino	
+++ b/Moteur DC/ServoStrap/ServoStrapPortManipulationLD293D_1_3/ServoStrapPortManipulationLD293D_1_3.ino	
@@ -42,9 +42,9 @@ https://github.com/danithebest91/ServoStrap
 
 // ------------- CONSTANTE DU PID -------------
 
-float KP = 5 ; //Porportionnel
-float KI = 0.1; // Intergrale
-float KD = 2.0; // derive
+float KP = 3 ; //Porportionnel
+float KI = 2; // Intergrale
+float KD = 15; // derive
 
 // ------------- CONSTANTE DU PID -------------
 
@@ -70,9 +70,9 @@ long previousMillis = 0;        // will store last time LED was updated
 long interval = 5;           // interval at which to blink (milliseconds)
 
 //for motor control ramps 1.4
-bool newStep = false;
-bool oldStep = false;
-bool dir = false;
+//bool newStep = false;
+//bool oldStep = false;
+//bool dir = false;
 
 void setup() { 
   pinModeFast(2, INPUT);
@@ -188,6 +188,8 @@ void docalc() {
     } else if(sumError < iMin){
       sumError = iMin;
     }
+  
+  Serial.println(motorspeed);
    
     if(motorspeed > 0){
           if( motorspeed >= 255) motorspeed=255;
@@ -226,15 +228,19 @@ void doEncoderMotor0(){
     else {
       encoder0Pos-- ;          // CCW
     }
-
   }
  
 }
 
 void countStep(){
   //dir=digitalRead(DIR_PIN)==HIGH;
-  dir = (PINC&B0000001);  // dir=digitalRead(dir_pin) read PC0, 14 digital; 
+  //dir = (PINC&B0000001);  // dir=digitalRead(dir_pin) read PC0, 14 digital; 
                                   //here will be (PINB&B0000001) to not use shift in the stable version
-            if (dir) target1++;
-            else target1--;
+            if (PINC&B0000001) {
+             target1++;
+            }
+            else 
+            {
+             target1--;
+            }
 }