Codigo comentado da IronCup 01/03/2020
Dependencies: mbed
Diff: main.cpp
- Revision:
- 12:00ba3be0d995
- Parent:
- 11:4f3dcdd4d8ce
- Child:
- 13:733030741583
diff -r 4f3dcdd4d8ce -r 00ba3be0d995 main.cpp --- a/main.cpp Fri Feb 28 16:53:10 2020 +0000 +++ b/main.cpp Fri Feb 28 22:45:38 2020 +0000 @@ -44,9 +44,9 @@ //============== VARIAVEIS MAIS IMPORTANTES ================// //Separadas do resto para facilitar a alteração -float ParametroCorrecao = 1.02; //1.1 // 4.63 // 2 ----> 1.15 -float Kp_Sensor = 0.64; //0.14; //0.2 //0.4 // 0.2 // 0.35--->0.55--0.7 -float Kd_Sensor = 8.8; //1.75; //1.15 //0.6 // 2.7 // 4.3 --->7.2--8.4 +float ParametroCorrecao = 1.02; //1.1 // 4.63 // 2 ----> 1.15----1.02 +float Kp_Sensor = 0.92; //0.14; //0.2 //0.4 // 0.2 // 0.35--->0.55--0.7--0.64--0.92 +float Kd_Sensor = 12.1; //1.75; //1.15 //0.6 // 2.7 // 4.3 --->7.1--8.4--8.8--12.1 float BaseSpeed = 0.18; //0.12 // 0.15 // 0.18--->0.18 //==========================================================// @@ -332,7 +332,7 @@ pwm.write(0.00); //Pulso inicial para cada motor pwm1.write(0.00); - //END.attach(&Final_Stop, 20); //Faz o LF parar depois de 20 segundos + END.attach(&Final_Stop, 30); //Faz o LF parar depois de 20 segundos while(1){ //Para_Demonio();