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Dependencies: TPixy-Interface
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Diff: PiControlThread.cpp
- Revision:
- 2:ca2a7430739b
- Parent:
- 1:3e9684e81312
- Child:
- 3:4def4ca68910
diff -r 3e9684e81312 -r ca2a7430739b PiControlThread.cpp --- a/PiControlThread.cpp Sat Feb 03 00:05:08 2018 +0000 +++ b/PiControlThread.cpp Sat Feb 03 00:37:57 2018 +0000 @@ -58,7 +58,7 @@ // in seconds between interrupts, and start interrupt generation: PeriodicInt.attach(&PeriodicInterruptISR, 0.05); // 50ms sampling rate - Kp = 2; + Kp = 2.2; Ki = 0.01; } @@ -85,7 +85,7 @@ vel = (float)((6135.92 * dPosition) / dTime) ; setpoint_mutex.lock(); - e = SaturatingSubtract(setpoint, vel); // e is the velocity error + e = SaturatingSubtract(setpoint, dPosition); // e is the velocity error setpoint_mutex.unlock(); // disable integration if u is saturated