Diff: main.cpp

Revision:

5:987cc578988e

Parent:

4:c119259c1ba5

Child:

6:083bd713670b

diff -r c119259c1ba5 -r 987cc578988e main.cpp
--- a/main.cpp	Fri Oct 13 12:22:14 2017 +0000
+++ b/main.cpp	Mon Oct 23 07:58:28 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 = 2.5;                           // has jet to be scaled
+    float kp = 0.002;                             // kind of scaled.
     float Proportional= kp*error;
     
-    float kd = 1;                            // has jet to be scaled
+    float kd = 0.00025;                           // kind of scaled. 
     float VelocityError = (error - e_prev)/Ts; 
     float Derivative = kd*VelocityError;
     e_prev = error;
     
-    float ki = 0.5;                           // has jet to be scaled 
+    float ki = 0.00001;                           // kind of scaled.
     e_int = e_int+Ts*error;
     float Integrator = ki*e_int;
     
@@ -90,7 +90,7 @@
 
 int main()
 {
-    M1E.period(PwmPeriod)
+    M1E.period(PwmPeriod);
     Treecko.attach(MeasureAndControl, Ts);   //Elke 1 seconde zorgt de ticker voor het runnen en uitlezen van de verschillende 
                                             //functies en analoge signalen. Veranderingen worden elke 1 seconde doorgevoerd.