Diff: main.cpp

Revision:

4:0844ab0d7d93

Parent:

3:4abcd40682fa

Child:

5:d1ab07fd3355

--- a/main.cpp	Thu Oct 08 13:10:32 2015 +0000
+++ b/main.cpp	Fri Oct 09 11:29:40 2015 +0000
@@ -18,8 +18,8 @@
 
 // Controller gain proportional and intergrator
 const double motor1_Kp = 5; // more or les random number.
-const double motor1_Ki = 1;
-const double M1_timestep = 0.01; // reason ticker works with 100 Hz.
+const double motor1_Ki = 0;
+const double M1_timestep = 0.001; // reason ticker works with 100 Hz.
 double motor1_error_integraal = 0; // initial value of integral error
 
 // calculating pulses to rotations in degree.
@@ -38,7 +38,7 @@
     
     e_int = e_int + Ts * error_normalised_rotation;
     
-    double PI_output = Kp * error_normalised_rotation + Ki * e_int;
+    double PI_output = Kp * error_normalised_rotation + Ki * e_int; // 
     return PI_output;
 }
 // Next task, measure the error and apply the output to the plant
@@ -78,8 +78,8 @@
 
 int main()
 {
-    aansturen.attach( &motor1_Controller, 0.01f ); // 100 Hz
-    Printen.attach(&counts_showing,0.1f); // 10 Hz // printstatement here because printing cost to much time. the motor void wouldn't be completed
+    aansturen.attach( &motor1_Controller, 0.001f ); // 100 Hz
+    Printen.attach(&counts_showing,0.1); // 10 Hz // printstatement here because printing cost to much time. the motor void wouldn't be completed
     while( 1 ) { }
 }