![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
for Infotag
Dependencies: Library_Cntrl Library_Misc
Diff: main.cpp
- Revision:
- 2:b3aed371adb5
- Parent:
- 1:f39d75a48955
- Child:
- 4:3d8dd3d17564
diff -r f39d75a48955 -r b3aed371adb5 main.cpp --- a/main.cpp Thu Mar 07 07:04:11 2019 +0000 +++ b/main.cpp Thu Mar 07 09:16:11 2019 +0000 @@ -99,7 +99,7 @@ //****************************************************************************** int main() { - pc.baud(2000000); // for serial comm. + pc.baud(115200); // for serial comm. counter1.reset(); // encoder reset diff.reset(0.0f,0); ControllerLoopTimer.attach(&updateLoop, Ts); //Assume Fs = ...; @@ -159,7 +159,12 @@ default: break; } out.write( i2u(torq/0.217f)); // motor const. is 0.217, - // transform M -> i -> u -> normalized output + if(++k >= 249){ + k = 0; + //pc.printf("phi: %1.5f, Torq: %1.2f \r\n",phi1,torq); + pc.printf("ax %1.5f, ay: %1.5f, gyro: %1.5f, ph1: %1.5f\r\n",u2ax(ax.read()),u2ay(ay.read()),u2gz(gz.read()),phi1); + } + } // END OF updateLoop(void) //****************************************************************************** @@ -187,10 +192,6 @@ float M_des = om2zero(0.0f-vel); // outer controller to bring motor to zero float torq = M_des + (-7.1*phi1_des) -(-9.6910f * phi1 -0.7119f * gyro); // calculationof gains are based on the MATLAB script at the end of this file!!! // output PI V K(1) K(2) - if(++k >= 249){ - k = 0; - pc.printf("phi: %1.5f, Torq: %1.2f, M_soll %1.2f \r\n",phi1,torq,M_des); - } return torq; } // ************ calculate angle *****************