KRAI 2017 / Mbed 2 deprecated DagonFly__RoadToJapan_13Mei

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Dependencies:   DigitDisplay Motor PID Ping mbed millis

Fork of DagonFly__RoadToJapan_11Mei by KRAI 2017

Files at this revision

API Documentation at this revision

Revision 48:3006386dc8df, committed 2017-05-13

Comitter:
Najib_irvani
Date:
Sat May 13 07:27:51 2017 +0000
Parent:
47:6cac4f1a3c8e
Commit message:
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Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 6cac4f1a3c8e -r 3006386dc8df main.cpp
--- a/main.cpp	Sat May 13 05:47:10 2017 +0000
+++ b/main.cpp	Sat May 13 07:27:51 2017 +0000
@@ -74,9 +74,9 @@
 const float pwmPowerDown      = -1.0;
 
 double jarak_ping=0;
-double ping_target = 14;
+double ping_target = 16;
 double ping_current_error, ping_previous_error1 = 0, ping_sum_error=0;
-double ping_Kp = -0.2747, ping_Kd =0, ping_Ts=10;
+double ping_Kp = -0.3747, ping_Ki =0, ping_Ts=10;
 double ping_pwm, ping_previous_pwm = 0; 
 
 // Variable Bawah
@@ -676,7 +676,8 @@
             ping_current_error =  (double) (ping_target-jarak_ping);
                
             ping_sum_error += ping_current_error*ping_Ts;
-            ping_pwm = (double) ping_Kp*ping_current_error + ping_Kd*(ping_current_error-ping_previous_error1)/ping_Ts;   
+            ping_pwm = (double) ping_Kp*ping_current_error + ping_Ki*(ping_sum_error+ping_current_error)*ping_Ts;   
+            ping_sum_error = ping_sum_error+ping_current_error;
             
             pc.printf("%.2f\n", jarak_ping);
             powerScrew.speed(ping_pwm);