春ロボ1班(元F3RC4班+) / EC_speedcontrol_1010

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependents:   harurobo1006 harurobo_1026

Fork of EC by ROBOSTEP_LIBRARY

Diff: SpeedController.cpp

Revision:
35:d491d9a8343f
Parent:
32:297384f9d261
--- a/SpeedController.cpp	Thu Jul 05 01:23:58 2018 +0000
+++ b/SpeedController.cpp	Wed Oct 10 04:21:47 2018 +0000
@@ -18,13 +18,15 @@
 void SpeedControl::Sc(double target_omega){       //スカンジウムじゃないよ
     now_omega=omega;
     now_time_=timer.read();
-    diff= target_omega-now_omega;
+    diff= (target_omega-now_omega)/C;
     out_duty=Kv_p*diff+Kv_d*(diff-diff_old)/(now_time_-old_time_);
     diff_old=diff;
+
     if(out_duty>0.1)out_duty=0.1;
     if(out_duty<-0.1)out_duty=-0.1;
-    if((duty>=-0.95)&&(duty<=0.95)) out+=out_duty;
-    duty=0.00002*out+target_omega/C;
+
+    if((duty>=-0.95)&&(duty<=0.95)) duty=duty+out_duty;
+    //duty=target_omega/C;
     if(duty<-0.95)duty=-0.95;
     else if(duty>0.95)duty=0.95;
     old_time_=now_time_;