Diff: main.cpp

Revision:

6:083bd713670b

Parent:

5:987cc578988e

Child:

7:05495acc08b0

--- 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
     }
 }