ManualControl
Dependencies: TPixy-Interface
Fork of MbedOS_Robot_Team by
Revision 6:e7ce340fe91e, committed 2018-02-10
- Comitter:
- asobhy
- Date:
- Sat Feb 10 19:35:21 2018 +0000
- Parent:
- 4:417e475239c7
- Child:
- 7:73fd05fe556a
- Commit message:
- 02/10/2018
Changed in this revision
PiControlThread.cpp | Show annotated file Show diff for this revision Revisions of this file |
ui.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/PiControlThread.cpp Fri Feb 09 18:37:11 2018 +0000 +++ b/PiControlThread.cpp Sat Feb 10 19:35:21 2018 +0000 @@ -39,7 +39,8 @@ { DE0_init(); // initialize FPGA motorDriver_init(); // initialize motorDriver - PiController_init(2.2,0.01); // initialize the PI Controller gains and initialize variables + // Kp,Ki + PiController_init(1,0.4); // initialize the PI Controller gains and initialize variables PiControlId = osThreadCreate(osThread(PiControlThread), NULL);
--- a/ui.cpp Fri Feb 09 18:37:11 2018 +0000 +++ b/ui.cpp Sat Feb 10 19:35:21 2018 +0000 @@ -166,19 +166,19 @@ } else if (x=='i') { - Ki = Ki + 0.001; + Ki = Ki + 0.01; } else if (x=='k') { - Ki = Ki - 0.001; + Ki = Ki - 0.01; } else if (x=='o') { - Kp = Kp + 0.01; + Kp = Kp + 0.1; } else if (x=='l') { - Kp = Kp - 0.01; + Kp = Kp - 0.1; } // error wrong input @@ -191,7 +191,7 @@ //bluetooth.printf("\r\nPos: %d, dP: %d, dT: %d, Kp: %f, Ki: %f, vel: %d, e: %d", position, dPosition, dTime, Kp, Ki, vel, e); - bluetooth.printf("\r\ndP: %d, vel: %d, Kp: %f, Ki: %f, e: %d, xState: %d", dPosition, vel, Kp, Ki, e, xState); + bluetooth.printf("\r\ndP: %d, vel: %d, (Kp*e) Kp: %f, (Ki*xState) Ki: %f, e: %d, xState: %d, u: %d", dPosition, vel, Kp, Ki, e, xState , u); //bluetooth.printf("\r\ne: %d, Pos: %d, dP: %d, xState: %d, u: %d, dT: %d", e, position, dPosition, xState, u, dTime);