Diff: main.cpp

Revision:

13:eaaeb41e22d2

Parent:

12:e125b9fa77b9

Child:

14:5534b8282a06

--- a/main.cpp	Thu Nov 02 18:18:44 2017 +0000
+++ b/main.cpp	Thu Nov 02 20:16:38 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 = 0.1;                   // tickettijd/ sample time
+const float Ts = 0.002;                   // tickettijd/ sample time
 float e_prev = 0; 
 float e_int = 0;
 
@@ -75,15 +75,15 @@
 
 float FeedBackControl2(float error2, float &e_prev2, float &e_int2)   // schaalt de snelheid naar de snelheid zodat onze chip het begrijpt (is nog niet in werking)
 {
-    float kp2 = 0.1;                             // kind of scaled.
+    float kp2 = 0.001;                             // kind of scaled.
     float Proportional2= kp2*error2;
     
-    float kd2 = 0.04;                           // kind of scaled. 
+    float kd2 = 0.001;                           // kind of scaled. 
     float VelocityError2 = (error2 - e_prev2)/Ts; 
     float Derivative2 = kd2*VelocityError2;
     e_prev2 = error2;
     
-    float ki2 = 0.05;                           // kind of scaled.
+    float ki2 = 0.0005;                           // kind of scaled.
     e_int2 = e_int2+Ts*error2;
     float Integrator2 = ki2*e_int2;
     
@@ -166,6 +166,7 @@
     float motorValue2 = FeedBackControl2(error2, e_prev2, e_int2);
     SetMotor2(motorValue2);
     //pc.printf("encoder 2 = %f\r\n",Huidigepositie2);
+    pc.printf("refP2 = %f, Huidigepositie2 = %f, error = %f, motorValue2 = %f \r\n", refP2, Huidigepositie2, error2, motorValue2);
 }