Diff: SpeedControl.h

Revision:

17:ec52258b9472

Parent:

15:4efc66de795a

--- a/SpeedControl.h	Mon Jun 05 07:57:07 2017 +0000
+++ b/SpeedControl.h	Wed Jun 07 11:35:59 2017 +0000
@@ -27,12 +27,12 @@
 private:
 
     //static allows you to initialize variables within the header
-    static const float PERIOD = 0.001f;                    // period of control task, given in [s]
+    static const float PERIOD = 0.002f;                    // period of control task, given in [s]
     static const float COUNTS_PER_TURN = 1200.0f;          // resolution of encoder counter
     static const float LOWPASS_FILTER_FREQUENCY = 300.0f;  // frequency of lowpass filter for actual speed values, given in [rad/s]
     static const float KN = 40.0f;                         // speed constant of motor, given in [rpm/V]
     static const float KP = 0.2f;                          // speed controller gain, given in [V/rpm]
-    static const float KI = 0.1f;                          //speed controller integral term gain [V/rpm]
+    //static const float KI = 0.1f;                          //speed controller integral term gain [V/rpm]
     static const float MAX_VOLTAGE = 12.0f;                // supply voltage for power stage in [V]
     static const float MIN_DUTY_CYCLE = 0.02f;             // minimum allowed value for duty cycle (2%)
     static const float MAX_DUTY_CYCLE = 0.98f;             // maximum allowed value for duty cycle (98%)