Module 9 Super Team
/
PIDController1
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Fork of
PIDController
by 
Kevin Hetterscheid
main.h
- Committer:
- AeroKev
- Date:
- 2015-10-14
- Revision:
- 0:d38eb4622914
- Child:
- 1:fe23126b0389
File content as of revision 0:d38eb4622914:
PinName m1_enc_a = D12;
PinName m1_enc_b = D13;
PinName m1_pwm = D6;
PinName m1_dir = D7;
PinName m2_enc_a = D11;
PinName m2_enc_b = D10;
PinName m2_pwm = D5;
PinName m2_dir = D4;
PinName m2_pot = A0;
PinName m1_pot = A1;
const double pid_upper_limit = 1, pid_lower_limit = 0;
const double motor1_kp = 0.75f, motor1_ki = 0.001f, motor1_kd = 0.005f;
const double motor2_kp = 1.5f, motor2_ki = 1.0f, motor2_kd = 0.05f;
const double m1_f_a1 = 1.0, m1_f_a2 = 2.0, m1_f_b0 = 1.0, m1_f_b1 = 3.0, m1_f_b2 = 4.0;
const double m2_f_a1 = 1.0, m2_f_a2 = 2.0, m2_f_b0 = 1.0, m2_f_b1 = 3.0, m2_f_b2 = 4.0;
int sigPerRev = 4192;
float tickRate = 0.01f;
float graphTickRate = 0.01f;
float toRadians(int pulses);