Biorobotics 7 / BioroboticsMotorControl

PID motor controll for the biorobotics project.

Dependencies:   FastPWM QEI

Dependents:   PID_example Motor_calibration Demo_mode Demo_mode ... more

Files at this revision

API Documentation at this revision

Revision 14:e5fc69651b1d, committed 2018-11-05

Comitter:
MAHCSnijders
Date:
Mon Nov 05 16:03:11 2018 +0000
Parent:
13:9be1857401f8
Commit message:
Fixed constant r

Changed in this revision

motor.h Show annotated file Show diff for this revision Revisions of this file
pid.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 9be1857401f8 -r e5fc69651b1d motor.h
--- a/motor.h	Thu Nov 01 12:55:32 2018 +0000
+++ b/motor.h	Mon Nov 05 16:03:11 2018 +0000
@@ -1,4 +1,4 @@
-#pragma once
+#pragma once // Include only once
 
 #include "mbed.h"
 #include "FastPWM.h"
@@ -10,8 +10,8 @@
 // Amount of motor encoder pulses per rotation. When using X4 encoding.
 const int PULSES_PER_ROTATION = 6533;
 
-const double MOTOR_THRESHOLD_RPS = 0.1; // Rad/s under which we send 0 to the motor, to prevent it from jittering around.
-const double MOTOR_STALL_PWM = 0.45; // PWM fraction above which the motor starts to move.
+const double MOTOR_THRESHOLD_RPS = 0.1; // Motor speed fraction under which we send 0 to the motor, to prevent it from jittering around.
+const double MOTOR_STALL_PWM = 0.45; // PWM fraction above which the motor starts to move (below it motor will start to stall).
 
 class Motor {
     /// Rotates a motor to a given angle using PID control.

diff -r 9be1857401f8 -r e5fc69651b1d pid.cpp
--- a/pid.cpp	Thu Nov 01 12:55:32 2018 +0000
+++ b/pid.cpp	Mon Nov 05 16:03:11 2018 +0000
@@ -53,7 +53,7 @@
     error_integral += error * pid_period;
     double u_i = Ki * error_integral;
     
-    // Derivative part
+    // Derivative part (needs filter)
     double error_der = (error-error_previous)/pid_period;
     double filtered_error_der = biquad_step(error_der);
     double u_d = Kd * filtered_error_der;