Micromouse / Mbed 2 deprecated Main-codetest

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Dependencies:   mbed

Diff: PID.cpp

Revision:
6:688449345fff
Parent:
0:9c49bdc7e402
Child:
7:edd065946e9b
--- a/PID.cpp	Wed Nov 22 02:33:33 2017 +0000
+++ b/PID.cpp	Wed Nov 22 05:56:05 2017 +0000
@@ -15,6 +15,8 @@
 {
     double error = 0;
     error= signed( counterM1- counterM2);
+    pc.printf("counter1: %6.6f",counterM1);
+    pc.printf("counter2: %6.6f",counterM2);   
     double P = Kp * error;
     total_error = (total_error+error);
     double I = Ki * total_error;
@@ -26,9 +28,9 @@
 }
 
 //encoder controlled
-const double Kp_e =1;
+const double Kp_e =.00001;
 const double Ki_e = 0;
-const double Kd_e = 0.1;
+const double Kd_e = 0;
 const double decay_e=1;
 
 double total_error_e=0;
@@ -38,6 +40,11 @@
 double PID_e(){
     double error = 0;
     error= signed ( LL_t.read_u16()-RR_t.read_u16());
+    
+   // pc.printf("ledL: %d\n",LL_t.read_u16());
+ //   pc.printf("LedR: %d\n",RR_t.read_u16()); 
+    // pc.printf("kp error: %8.8f\n",(signed ( LL_t.read_u16()-RR_t.read_u16()))*Kp_e);
+
     double P = Kp_e * error;
     total_error = (total_error+error);
     double I = Ki_e * total_error;