Revision 1:14997ad30b4e, committed 2017-05-15

Comitter:

Fathoni17

Date:

Mon May 15 09:30:15 2017 +0000

Parent:

0:12479c9c5c72

Commit message:

Untuk Tuning Reloader

Changed in this revision

--- 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