KRAI 2017 / Mbed 2 deprecated prototype_encoder_launcher_V1

tuning pid

Dependencies:   Motor kalman mbed millis

Fork of prototype_encoder_launcher by KRAI 2017

Files at this revision

API Documentation at this revision

Revision 1:4200f28040d3, committed 2017-02-09

Comitter:
Najib_irvani
Date:
Thu Feb 09 13:46:48 2017 +0000
Parent:
0:bc9c90c7b357
Commit message:
tuning pid

Changed in this revision

kalman.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/kalman.lib	Thu Feb 09 13:46:48 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/cdonate/code/kalman/#8a460b0d6f09

--- a/main.cpp	Wed Feb 08 13:55:01 2017 +0000
+++ b/main.cpp	Thu Feb 09 13:46:48 2017 +0000
@@ -3,15 +3,15 @@
 #include "Motor.h"
 #include "millis.h"
  
-double speed, maxSpeed = 0.8, minSpeed = -0.8, last_speed = 0.0;
-double kp=0.0005, kd=0.005, ki=0.000005;
+double speed, maxSpeed = 0.8, minSpeed = -0.8;
+double kp=0.167, kd=0.167, ki=0.000167;
 double p,i,d;
 double last_error = 0, current_error, sum_error = 0;
-double rpm, target_rpm = 1500.0;
+double rpm, target_rpm = 2000.0;
 
 encoderKRAI encoder( PB_14, PB_13, 14, encoderKRAI::X2_ENCODING);
 Serial pc(USBTX,USBRX);
-Motor motor(PA_8,PC_1,PC_2);
+Motor motor(PA_8,PC_2,PC_1);
 
 unsigned long int previousMillis = 0;
 unsigned long int currentMillis;
@@ -35,28 +35,33 @@
 
     
     while(1) {
-        current_error = target_rpm - rpm;
-        sum_error += current_error;
-        p = current_error*kp;
-        d = (current_error-last_error)*kd;
-        i = sum_error*ki;
-        
-        speed = last_speed + p + d;
-        init_speed();
-        motor.speed(speed);
+
         currentMillis = millis();
         
         
         if (currentMillis-previousMillis>=50)
         {
             rpm = (double)encoder.getPulses()*60000/(double)(14.0*50.0);
-            previousMillis = currentMillis;
+            
+            current_error = target_rpm - rpm;
+            sum_error = sum_error + current_error;
+            p = current_error*kp;
+            d = (current_error-last_error)*kd/50.0;
+            i = sum_error*ki*50.0;
+        
+            speed = p + d + i;
+            init_speed();
+            motor.speed(speed);
+            last_error = current_error;
+        
             encoder.reset();
             pc.printf("%.04lf\n",rpm);
             
+            previousMillis = currentMillis;
+            
         }
-        //last_speed = speed;
-        last_error = current_error;
+
+        
         
     }
 }