KRAI 2017
/
new
dear fatoni
Diff: main.cpp
- Revision:
- 1:14997ad30b4e
- Parent:
- 0:12479c9c5c72
--- a/main.cpp Mon May 15 06:59:16 2017 +0000 +++ b/main.cpp Mon May 15 09:30:15 2017 +0000 @@ -9,23 +9,27 @@ Serial pc(USBTX,USBRX); int jarak; -double target = 90; double a,b,c; double current_error, previous_error1 = 0; -double Kp = -0.003753, Ki = -1.001e-06, Ts=30; double pwm, previous_pwm = 0; +// Atur Variable Tuning +double target = 90; +double Kp = -0.003753, Ki = -1.001e-06, Ts=10; +double batas_pwm_atas = 0.35; +double batas_pwm_bawah = 0.05; + int main(){ pc.baud(115200); - powerScrew.speed(0.5); + //powerScrew.speed(0.5); while(1){ int jarak; ping.Send(); wait_ms(10); jarak = ping.Read_cm(); - pc.printf("%d\n", jarak); - /* + pc.printf("%d\t%d\n", target, jarak); + current_error = (double) (target-jarak); a = Kp + Ki*Ts/2; b = -Kp + Ki*Ts/2; @@ -35,10 +39,17 @@ if (pwm>1) pwm=1; if (pwm<-1) pwm=-1; + if (pwm<batas_pwm_atas && pwm>batas_pwm_bawah){ + pwm = batas_pwm_atas; + } + if (pwm>-1*batas_pwm_atas && pwm<-1*batas_pwm_bawah){ + pwm = -1*batas_pwm_atas; + } + powerScrew.speed(pwm); previous_pwm = pwm; previous_error1 = current_error; - */ + } } \ No newline at end of file