Robot lijkt goed te reageren op potmeters van Pauline.
Dependencies: Encoder HIDScope MODSERIAL mbed
Fork of PIDZONDERRKI by
Diff: main.cpp
- Revision:
- 6:083bd713670b
- Parent:
- 5:987cc578988e
- Child:
- 7:05495acc08b0
diff -r 987cc578988e -r 083bd713670b main.cpp --- a/main.cpp Mon Oct 23 07:58:28 2017 +0000 +++ b/main.cpp Tue Oct 31 15:44:56 2017 +0000 @@ -33,15 +33,15 @@ float FeedBackControl(float error, float &e_prev, float &e_int) // schaalt de snelheid naar de snelheid zodat onze chip het begrijpt (is nog niet in werking) { - float kp = 0.002; // kind of scaled. + float kp = 0.001; // kind of scaled. float Proportional= kp*error; - float kd = 0.00025; // kind of scaled. + float kd = 0.0004; // kind of scaled. float VelocityError = (error - e_prev)/Ts; float Derivative = kd*VelocityError; e_prev = error; - float ki = 0.00001; // kind of scaled. + float ki = 0.00005; // kind of scaled. e_int = e_int+Ts*error; float Integrator = ki*e_int; @@ -103,6 +103,6 @@ float B = motor1.getPosition(); float Potmeterwaarde = potMeter2.read(); //float positie = B%4096; - pc.printf("pos: %d, speed %f, potmeter = %f V, \r\n",motor1.getPosition(), motor1.getSpeed(),(potMeter2.read()*3.3)); //potmeter uitlezen. tussen 0-1. voltage, dus *3.3V + //pc.printf("pos: %d, speed %f, potmeter = %f V, \r\n",motor1.getPosition(), motor1.getSpeed(),(potMeter2.read()*3.3)); //potmeter uitlezen. tussen 0-1. voltage, dus *3.3V } }