Catch the GIANT Caplico! / Mbed 2 deprecated PID_AutoTuning

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Dependencies:   EC mbed

Fork of PID by Catch the GIANT Caplico!

Diff: main.cpp

Revision:
3:5d7dca0ca819
Parent:
2:18a1325ac2f2
Child:
4:77e3082c7cf7
--- a/main.cpp	Mon Jul 23 22:57:25 2018 +0000
+++ b/main.cpp	Tue Jul 24 01:04:10 2018 +0000
@@ -2,7 +2,7 @@
 #include "EC.h"
 #define K 0.01
 #define stride 0.01
-#define count 20
+#define count 40
 Serial pc(USBTX,USBRX);
 
 PwmOut motorF(PA_3); //モータードライバの接続ピン
@@ -13,7 +13,7 @@
 
 void out (double duty)
 {
-    double duty_max = 0.3;
+    double duty_max = 0.6;
     if(duty > 0) { //入力duty比が正の場合
         if( abs(duty) < duty_max ) { //制限値を超えていない場合
             motorF = abs(duty);
@@ -48,8 +48,8 @@
         pc.printf("Kp = %f : ",K+j*stride);
         timer.reset();
         i=0;
-        while(i<count) {
-            if(omega_old == 0 && Ec1.getOmega() == 0) break;
+        while(i<count && timer.read()<3) {
+            if(omega_old == 0 && Ec1.getOmega() == 0) {}
             else if(omega_old * Ec1.getOmega() <= 0) i++;
             omega_old = Ec1.getOmega();
             out((10*(j%2) - Ec1.getCount()*(-1)*30*5/6*3.14159265359/2048) * (K + j*stride));
@@ -58,6 +58,7 @@
         pc.printf("TimeOut\r\n");
         j++;
     }
+    out(0);
     double period = timer.read() / count;
     pc.printf("K = %f, T = %fs\r\n",K+j*stride,period);
     pc.printf("Kp = %f, Ki = %f, Kd = %f",0.6*(K+j*stride),0.5*period,0.125*period);