Diff: main.cpp

Revision:

14:5534b8282a06

Parent:

13:eaaeb41e22d2

Child:

15:a5849f3a60fc

--- a/main.cpp	Thu Nov 02 20:16:38 2017 +0000
+++ b/main.cpp	Thu Nov 02 22:25:35 2017 +0000
@@ -17,7 +17,7 @@
 MODSERIAL pc(USBTX,USBRX);
 
 float PwmPeriod = 1.0/5000.0;           //set up of PWM periode (5000 Hz, want 5000 periodes in 1 seconde)
-const float Ts = 0.002;                   // tickettijd/ sample time
+const float Ts = 0.1;                   // tickettijd/ sample time
 float e_prev = 0; 
 float e_int = 0;
 
@@ -64,7 +64,7 @@
     float Derivative = kd*VelocityError;
     e_prev = error;
     
-    float ki = 0.00005;                           // kind of scaled.
+    float ki = 0.0005;                           // kind of scaled.
     e_int = e_int+Ts*error;
     float Integrator = ki*e_int;
     
@@ -83,7 +83,7 @@
     float Derivative2 = kd2*VelocityError2;
     e_prev2 = error2;
     
-    float ki2 = 0.0005;                           // kind of scaled.
+    float ki2 = 0.005;                           // kind of scaled.
     e_int2 = e_int2+Ts*error2;
     float Integrator2 = ki2*e_int2;