BMT M9 groep 7 / Mbed 2 deprecated Motor_EMG_FinalV1_aangepastePIDwaarden

aangepaste PID waarden, waarden robert gedeeld door 5

Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed

Fork of Motor_EMG_FinalV1 by BMT M9 groep 7

Diff: main.cpp

Revision:
2:7873c44b0568
Parent:
1:3f49c8818619
Child:
3:86ca263a83dc
--- a/main.cpp	Thu Oct 22 10:46:10 2015 +0000
+++ b/main.cpp	Thu Oct 22 10:57:12 2015 +0000
@@ -78,7 +78,7 @@
     
 
 //Sample time (motor-step)
-    const double m2_Ts = 0.01, m1_Ts = 0.01;
+    const double m2_Ts = 0.001, m1_Ts = 0.001;
 
 //Controller gain Motor 2 & 1
     const double m2_Kp = 2.1/57,m2_Ki = 3.9/57, m2_Kd = 0.1/57;
@@ -238,8 +238,8 @@
     
     // Tickers
         ScopeTime.attach(&ScopeSend, 0.01f);                    // 100 Hz, Scope
-        myControllerTicker2.attach(&motor2_Controller, 0.01f ); // 100 Hz, Motor 2
-        myControllerTicker1.attach(&motor1_Controller, 0.01f ); // 100 Hz, Motor 1
+        myControllerTicker2.attach(&motor2_Controller, m2_Ts ); // 100 Hz, Motor 2
+        myControllerTicker1.attach(&motor1_Controller, m1_Ts ); // 100 Hz, Motor 1
         SampleEMGLeft.attach(&EMGfilterLeft, 0.01f);
         SampleEMGRight.attach(&EMGfilterRight, 0.01f);
         MovingAverageLeft.attach(&MovingAverageFilterLeft, 0.01f);