ロボステ6期 / PID_SC

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Diff: PID_SC.cpp

Revision:
37:c631d9b2206f
Parent:
36:ce11c30e303c
Child:
38:1e70e21c6ce4
--- a/PID_SC.cpp	Fri Jun 14 09:56:32 2019 +0000
+++ b/PID_SC.cpp	Wed Jun 26 03:42:35 2019 +0000
@@ -18,11 +18,11 @@
 void SpeedControl::Sc(double target_omega){       //スカンジウムじゃないよ
 if(duty==0&&target_omega!=0){
     duty=target_omega/C;
-    }
+    }else{
     now_omega=omega;
     now_time_=timer.read();
-     diff= (target_omega-now_omega)/C;
-    out_duty=Kv_p*diff+Kv_d*(diff-diff_old)/(now_time_-old_time_);
+     diff= (target_omega-now_omega)/20;
+    out_duty=Kv_p*diff-Kv_d*(diff-diff_old)/(now_time_-old_time_);
     diff_old=diff;
     if(out_duty>0.1)out_duty=0.1;
     if(out_duty<-0.1)out_duty=-0.1;
@@ -31,7 +31,7 @@
     if(duty<-0.95)duty=-0.95;
     else if(duty>0.95)duty=0.95;
     old_time_=now_time_;
-    
+    }
     if(duty*target_omega<0){
     duty=0;
     out_duty=0;