Catch the GIANT Caplico!
/
PID_AutoTuning
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Catch the GIANT Caplico!
Diff: main.cpp
- Revision:
- 5:97c1b79316c0
- Parent:
- 4:77e3082c7cf7
- Child:
- 6:cfd12ff3f3ab
--- a/main.cpp Tue Jul 24 12:11:43 2018 +0000
+++ b/main.cpp Wed Jul 25 04:04:15 2018 +0000
@@ -1,10 +1,10 @@
#include "mbed.h"
#include "EC.h"
-#define K 0.01 //評価をはじめる最小のK値
+#define K 0.2 //評価をはじめる最小のK値
#define stride 0.01 //K値を上げるときのきざみ幅
-#define duty_max 0.3 //出力duty比の上限
-#define evaluation_count 40 //定常振動しているとみなす振動回数
-#define evaluation_time 3 //評価時間
+#define duty_max 0.8 //出力duty比の上限
+#define evaluation_count 80 //定常振動しているとみなす振動回数
+#define evaluation_time 4 //評価時間
Serial pc(USBTX,USBRX);
PwmOut motorF(PA_3); //モータードライバの接続ピン
@@ -49,11 +49,11 @@
int i,j;
pc.printf("AutoTuning...\r\n");
while(1) {
- //pc.printf("Kp = %f : ",K+j*stride);
+ pc.printf("Kp = %f : ",K+j*stride);
timer.reset();
i=0;
while(i<evaluation_count && timer.read()<evaluation_time) {
- if(omega_old == 0 && Ec1.getOmega() == 0) {}
+ if(omega_old == 0 && Ec1.getOmega() == 0) {/*timer.reset();*/}
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));