Revision 101:efa2315d0312, committed 2019-06-06

Comitter:

Jeonghoon

Date:

Thu Jun 06 11:16:43 2019 +0000

Parent:

100:0e44e944a19f

Child:

102:e846a127af54

Commit message:

20190606 success

Changed in this revision

--- a/RemoteIR.lib	Wed Jun 05 18:40:06 2019 +0000
+++ b/RemoteIR.lib	Thu Jun 06 11:16:43 2019 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/teams/embedded1/code/RemoteIR/#2fafd2e7dea8
+https://os.mbed.com/teams/embedded1/code/RemoteIR/#b56a97811380

--- a/main.cpp	Wed Jun 05 18:40:06 2019 +0000
+++ b/main.cpp	Thu Jun 06 11:16:43 2019 +0000
@@ -12,6 +12,8 @@
 I2C i2c(D14, D15);                                      // D14, D15
 Adafruit_SSD1306_I2c myOled(i2c, D9, 0x78, 64, 128);    // D9, (D8: D/C - data/command change)
 DigitalOut DataComm(D8);
+
+Serial blue(PA_11, PA_12, 9600);
  
 Thread TR_thread;
 Thread remote_thread;
@@ -104,8 +106,9 @@
     motor.cal_stop = 0; 
     
     motor.kp = 10;
-    motor.kd = 2;
-    motor.max = 100;
+    motor.kd = 1;
+    motor.ki = 5000;
+    motor.max = 150;
  
     DataComm = 0;
  
@@ -124,7 +127,7 @@
     while(1){
         myOled.clearDisplay();
         //myOled.printf("%.3f, %.3f, %d\r", motor.Speed_L, motor.Speed_R, pos);
-        myOled.printf("kp:%.2f, kd: %d\r", motor.kp, motor.kd);
+        myOled.printf("%.0f %.1f %d %d\r", motor.kp, motor.kd, motor.ki, motor.max);
         myOled.display();
     }
 }
@@ -295,9 +298,9 @@
  
     last_proportional  = proportional;
  
-    //int power_difference = proportional / 20 + integral / 10000 + derivative * 10;
+    int power_difference = proportional / motor.kp + integral / motor.ki + derivative * motor.kd;
     //int power_difference = proportional / motor.kp;
-    int power_difference = proportional/motor.kp + derivative * motor.kd; 
+    //int power_difference = proportional/motor.kp + derivative * motor.kd; 
     const float std = 600.0;
  
     if(power_difference > motor.max)
@@ -307,7 +310,7 @@
         power_difference = -motor.max;
     
     // bot position: right
-    if(power_difference > 15){
+    if(power_difference > 15){ //0.1 + p_d/std
         motor.speed_r((motor.max + power_difference)/std);
         motor.speed_l((motor.max - power_difference)/std);
     }