BMT M9 groep 7 / Mbed 2 deprecated frdm_Motor_V2_3

Werkend aansturingsscript voor 2 motoren, incl werkende program switch. Motoren oscilleren nog iets. Vuur mechanisme ontbreekt nog.

Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed

Fork of frdm_Motor_V2_3 by Robert Schulte

Diff: main.cpp

Revision:
26:58c3d24b29d2
Parent:
25:ae908de29943
Child:
28:2eb768b9cb3b
--- a/main.cpp	Sat Oct 03 18:04:16 2015 +0000
+++ b/main.cpp	Wed Oct 14 10:27:54 2015 +0000
@@ -45,15 +45,15 @@
     const double m2_Ts = 0.01, m1_Ts = 0.01;
 
 //Controller gain Motor 2 & 1
-    const double m2_Kp = 5,m2_Ki = 0.05, m2_Kd = 2;
-    const double m1_Kp = 5,m1_Ki = 0.05, m1_Kd = 2;
+    const double m2_Kp = 5,m2_Ki = 0.05, m2_Kd = 5;
+    const double m1_Kp = 5,m1_Ki = 0, m1_Kd = 1;
     double m2_err_int = 0, m2_prev_err = 0;
     double m1_err_int = 0, m1_prev_err = 0;
 
 //Derivative filter coeffs Motor 2 & 1
-    const double BiGain2 = 0.016955, BiGain1 = 0.016955;
-    const double m2_f_a1 = -0.96608908283*BiGain2, m2_f_a2 = 0.0*BiGain2, m2_f_b0 = 1.0*BiGain2, m2_f_b1 = 1.0*BiGain2, m2_f_b2 = 0.0*BiGain2;
-    const double m1_f_a1 = -0.96608908283*BiGain1, m1_f_a2 = 0.0*BiGain1, m1_f_b0 = 1.0*BiGain1, m1_f_b1 = 1.0*BiGain1, m1_f_b2 = 0.0*BiGain1;
+    const double BiGain2 = 0.010681;
+    const double m2_f_a1 = -1.78114551442*BiGain2, m2_f_a2 = 0.79497571585*BiGain2, m2_f_b0 = 1.0*BiGain2, m2_f_b1 = -0.64542853817*BiGain2, m2_f_b2 = 1.0*BiGain2;
+    const double m1_f_a1 = m2_f_a1, m1_f_a2 = m2_f_a2, m1_f_b0 = m2_f_b0, m1_f_b1 = m2_f_b1, m1_f_b2 = m2_f_b2;
 
 // Filter variables
     double m2_f_v1 = 0, m2_f_v2 = 0;