Diff: main.cpp

Revision:

62:b1790e927a90

Parent:

61:07035c03cf29

Child:

63:d17f45d88c7a

--- a/main.cpp	Fri Nov 01 00:38:26 2019 +0000
+++ b/main.cpp	Fri Nov 01 00:46:39 2019 +0000
@@ -686,7 +686,7 @@
     u_p1 = Kp * motor1_error;
 
     //Integral part
-    if ( motor_curr_state == motor_finish || operation_curr_state == operation_movement || demo_curr_state == demo_XY ) {
+    if ( motor_curr_state == motor_finish || operation_curr_state == operation_movement || demo_curr_state == demo_XY || demo_curr_state == demo_positioning ) {
         error_integral1 = error_integral1 + ei1 * Ts;
         u_i1 = Ki * error_integral1;
     }
@@ -719,7 +719,7 @@
     u_p2 = Kp * motor2_error;
 
     //Integral part
-    if ( motor_curr_state == motor_finish || operation_curr_state == operation_movement || demo_curr_state == demo_XY ) {
+    if ( motor_curr_state == motor_finish || operation_curr_state == operation_movement || demo_curr_state == demo_XY || demo_curr_state == demo_positioning ) {
         error_integral2 = error_integral2 + ei2 * Ts;
         u_i2 = Ki * error_integral2;
     }
@@ -1018,8 +1018,8 @@
         timerStateChange.start();
     }
 
-    Vx = 8.0;
-    Vy = 8.0;
+    Vx = 5.0;
+    Vy = 5.0;
 
     PID_controller();
     motorControl();