group14 - k9 / Mbed 2 deprecated PIDcontroller

PID controller test code

Dependencies:   mbed Encoder HIDScope

Files at this revision

API Documentation at this revision

Revision 4:b8c8b94aa890, committed 2015-10-13

Comitter:
S1lverEagle
Date:
Tue Oct 13 14:56:12 2015 +0000
Parent:
3:c4c2d42cedd4
Commit message:
PID werkt, geen trilling meer

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Tue Oct 13 14:51:42 2015 +0000
+++ b/main.cpp	Tue Oct 13 14:56:12 2015 +0000
@@ -53,7 +53,7 @@
 {
     double reference = (potmeter1.read()-0.5)*4200;
     double position = encoder1.getPosition(); // Don’t use magic numbers!
-    double error = reference - position;
+    double error = (reference - position)/1000;
     pos_1 = PID( error, m1_Kp, m1_Ki, m1_Kd, m1_Ts, m1_err_int, m1_prev_err, m1_f_v1, m1_f_v2, m1_f_a1, m1_f_a2, m1_f_b0, m1_f_b1, m1_f_b2 );
     //pos_1 = (reference - position) *0.001;
     if(pos_1 > 0)