Inverted Pendulum / Mbed 2 deprecated IP-Interface

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Dependencies:   mbed QEI

Files at this revision

API Documentation at this revision

Revision 24:8a62311f2c5e, committed 2016-11-28

Comitter:
rkolli
Date:
Mon Nov 28 02:49:16 2016 +0000
Parent:
23:5238b046119b
Commit message:
commenting

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Fri Nov 18 11:55:33 2016 +0000
+++ b/main.cpp	Mon Nov 28 02:49:16 2016 +0000
@@ -7,9 +7,15 @@
 
 #define TRACK_LENGTH 296
 #define TRACK_MIDDLE TRACK_LENGTH/2
-#define Kp 1
-#define Ki 100
-#define Kd 100
+
+#define Kp 1    // Typically the main drive in a control loop, KP reduces a large part of the overall error.
+
+#define Ki 100 //Reduces the final error in a system. 
+               //Summing even a small error over time produces a drive signal large enough to move the system toward a smaller error.
+               
+#define Kd 100 // Counteracts the KP and KI terms when the output changes quickly. This helps reduce overshoot and ringing. 
+               //It has no effect on final error.
+
  
 Serial pc(USBTX, USBRX);
 //Use X4 encoding.