KRAI 2017 / Mbed 2 deprecated Test_PID

PID Kontrol atas, tanpa library. Baru P dan D, tapi D error

Dependencies:   Motor mbed millis

Diff: main.cpp

Revision:
2:89d69eae8917
Parent:
1:accc8b66773b
Child:
3:e4cbba0706b0
--- a/main.cpp	Sat Oct 15 15:26:00 2016 +0000
+++ b/main.cpp	Tue Oct 18 11:56:30 2016 +0000
@@ -25,7 +25,7 @@
     float D, Kd;
 
     // Variabel Sabeb
-    int desired_rpm = 150;
+    int desired_rpm = 125;
     
     // Test Variabel
     int selisiherror;
@@ -42,8 +42,8 @@
     // Deklarasi awal PID
     last_errorD = 0;
     pwm_last = 0;
-    Kp = 0.000000007;
-    Kd = 0.000000000007;
+    Kp = 0.00000007;
+    Kd = 0.000000007;
     
     while(1){
     
@@ -65,7 +65,7 @@
 //    int counter;
 //    counter=currentMillis/100;
     
-    if (currentMillis-previousMillis==500)
+    if (currentMillis-previousMillis==250)
     {
         previousMillis = currentMillis;
         rpm = encoder0Pos;