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Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of
Motor_EMG_FinalV1
by 
BMT M9 groep 7
Revision 6:d1d747050fcc, committed 2015-10-27
- Comitter:
- laura94
- Date:
- Tue Oct 27 11:47:32 2015 +0000
- Parent:
- 5:98cf456b08d7
- Child:
- 7:111e13da9bc0
- Commit message:
- pid waarden robert gedeeld door 5
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Tue Oct 27 10:23:44 2015 +0000
+++ b/main.cpp Tue Oct 27 11:47:32 2015 +0000
@@ -81,8 +81,8 @@
const double m2_Ts = 0.001, m1_Ts = 0.001;
//Controller gain Motor 2 & 1
- const double m2_Kp = 0.1523,m2_Ki = 0.08585, m2_Kd = 0.004534;
- const double m1_Kp = 0.1523,m1_Ki = 0.08585, m1_Kd = 0.004534;
+ const double m2_Kp = 0.1523/5,m2_Ki = 0.08585/5, m2_Kd = 0.004534/5;
+ const double m1_Kp = 0.1523/5,m1_Ki = 0.08585/5, m1_Kd = 0.004534/5;
double m2_err_int = 0, m2_prev_err = 0;
double m1_err_int = 0, m1_prev_err = 0;