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

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Dependents:   harurobo1006 harurobo_1026

Fork of EC by ROBOSTEP_LIBRARY

Files at this revision

API Documentation at this revision

Revision 35:d491d9a8343f, committed 2018-10-10

Comitter:
aoikoizumi
Date:
Wed Oct 10 04:21:47 2018 +0000
Parent:
34:b34dc495b3c8
Commit message:
SpeedController ???1.1 by??
; ??????????????

Changed in this revision

SpeedController.cpp Show annotated file Show diff for this revision Revisions of this file 
--- 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_;