BioRobotics
/
PID_control_with_lowpass
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Dependencies: HIDScope QEI mbed
Fork of
PID_control_with_lowpass
by 
Jasper Gerth
Revision 7:dbc066a7bb66, committed 2015-09-28
- Comitter:
- Gerth
- Date:
- Mon Sep 28 11:36:56 2015 +0000
- Parent:
- 6:60227fd3b30f
- Commit message:
- now with the serial connection value change working;
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Mon Sep 28 11:23:06 2015 +0000
+++ b/main.cpp Mon Sep 28 11:36:56 2015 +0000
@@ -11,7 +11,8 @@
//ingangen
AnalogIn pot1(A2);
-IntertuptIn changecontrollervalue(PTA4);
+InterruptIn changecontrollervalues(PTA4);
+Serial pc(USBTX, USBRX);
//uitgangen
DigitalOut motor1_direction(D7);// draairichting motor 1 (1 is CW encoder als je daar op kijkt en CW shaft als je daar op kijkt)
@@ -68,9 +69,9 @@
///////////////////////////////////////////////////////////CONTROLLERS//////////////////////////////////////////////////////////
//DIT ZIJN ZOMAAR WAARDEN, AANPASSEN DUS WAARDES BEREKENEN MET MATLAB
-const float motor1_pid_kp=0.5;
-const float motor1_pid_ki=0.01;
-const float motor1_pid_kd=0.01;
+float motor1_pid_kp=0.5;
+float motor1_pid_ki=0.01;
+float motor1_pid_kd=0.01;
double motor1_error_int=0;
double motor1_error_prev=0;
@@ -155,18 +156,16 @@
}
//intterrupt in to change controller values
if (changecontrollervalues==0) {
- motor1_speed_control=0;
+ motor1_speed_control.write(0);
pc.printf("KP is now %f, enter new value\n",motor1_pid_kp);
pc.scanf("%f", &motor1_pid_kp);
pc.printf("KI is now %f, enter new value\n",motor1_pid_ki);
pc.scanf("%f", &motor1_pid_ki);
- pc.printf("KP is now %f, enter new value\n",motor1_pid_kd);
+ pc.printf("KD is now %f, enter new value\n",motor1_pid_kd);
pc.scanf("%f", &motor1_pid_kd);
}
-
-
}
return 0; //gives warning: unreachable
}
\ No newline at end of file