MorphGI / Mbed 2 deprecated MGI_Rebuild_LowLevel_v7_PressureCtrl_PWM

Pressure control for drive segment in rebuild of control unit.

Dependencies:   mbed QEI FastAnalogIn mbed-rtos FastPWM

Diff: main.cpp

Revision:
4:3bab17dfae4e
Parent:
3:9bd35e5b05ba
Child:
5:4e710cef655e
diff -r 9bd35e5b05ba -r 3bab17dfae4e main.cpp
--- a/main.cpp	Tue Jan 29 14:57:57 2019 +0000
+++ b/main.cpp	Wed Jan 30 13:05:42 2019 +0000
@@ -168,7 +168,7 @@
 double dblErrorDot;
 
 //filter Variables
-int intPosFilOrder = 1;
+int intPosFilOrder = 0;
 int intVelFilOrder = 1;
 int intDemPosFilOrder = 6;
 int intDemVelFilOrder = 6;
@@ -523,7 +523,7 @@
         dblLinearPath = 0.0;
     }
     
-    dblPosD[intDemPosFilOrder] = 0.2*dblLinearPath + 0.8*dblPosD[intDemPosFilOrder];
+    dblPosD[intDemPosFilOrder] = 0.07*dblLinearPath + 0.93*dblPosD[intDemPosFilOrder];
     
     //make sure path is safe
     if (dblPosD[intDemPosFilOrder] > MAX_POSITION_MM) {