Diff: main.cpp

Revision:

2:3835d7ff7600

Parent:

1:718c43124021

Child:

3:e1b081265e97

--- a/main.cpp	Mon Oct 19 13:00:26 2015 +0000
+++ b/main.cpp	Tue Oct 20 11:58:05 2015 +0000
@@ -19,12 +19,11 @@
 Ticker control_ticker;
 double pos_1;
 double pos_2;
-double m1_f_v1 = 0, m1_f_v2 = 0;
 
 // Sample time (motor1−timestep)
 const double m1_Ts = 0.01;
 // Controller gains (motor1−Kp,−Ki,...)
-const double m1_Kp = 5, m1_Ki = 0.005, m1_Kd = 2;
+const double m1_Kp = 0.005, m1_Ki = 0.005, m1_Kd = 0.002;
 double m1_err_int = 0, m1_prev_err = 0;
 // Derivative filter coeicients (motor1−filter−b0,−b1,...)
 const double m1_f_a1 = -0.11175688680, m1_f_a2 = 0.17749674417, m1_f_b0 = 1.0, m1_f_b1 = 2, m1_f_b2 = 1;
@@ -33,29 +32,19 @@
 // Sample time (motor1−timestep)
 const double m2_Ts = 0.01;
 // Controller gains (motor1−Kp,−Ki,...)
-const double m2_Kp = 5, m2_Ki = 0.005, m2_Kd = 2;
+const double m2_Kp = 0.005, m2_Ki = 0.005, m2_Kd = 0.002;
 double m2_err_int = 0, m2_prev_err = 0;
 // Derivative filter coeicients (motor1−filter−b0,−b1,...)
 const double m2_f_a1 = -0.11175688680, m2_f_a2 = 0.17749674417, m2_f_b0 = 1.0, m2_f_b1 = 2, m2_f_b2 = 1;
 
-double biquad( double u, double &v1, double &v2, const double a1, const double a2,
-               const double b0, const double b1, const double b2 )
-{
-    double v = u - a1*v1 - a2*v2;
-    double y = b0*v + b1*v1 + b2*v2;
-    v2 = v1;
-    v1 = v;
-    return y;
-}
 
 // Reusable PID controller with filter
-double PID( double e, const double Kp, const double Ki, const double Kd, double Ts, double &e_int, double &e_prev, double &f_v1, double &f_v2, const double f_a1, const double f_a2, const double f_b0, const double f_b1, const double f_b2)
+double PID( double e, const double Kp, const double Ki, const double Kd, double Ts, double &e_int, double &e_prev, const double f_a1, const double f_a2, const double f_b0, const double f_b1, const double f_b2)
 {
 // Derivative
     double e_der = (e - e_prev)/Ts;
-    /*biquadFilter derfilter(f_a1, f_a2, f_b0, f_b1, f_b2);
-    e_der = derfilter.step(e_der);*/
-    e_der = biquad( e_der, f_v1, f_v2, f_a1, f_a2, f_b0, f_b1, f_b2 );
+    biquadFilter derfilter(f_a1, f_a2, f_b0, f_b1, f_b2);
+    e_der = derfilter.step(e_der);
     e_prev = e;
 // Integral
     e_int = e_int + Ts * e;
@@ -67,8 +56,8 @@
 {
     double reference = (potmeter1.read()-0.5)*4200;
     double position = encoder1.getPosition(); // Don’t use magic numbers!
-    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 );
+    double error = (reference - position);
+    pos_1 = PID( error, m1_Kp, m1_Ki, m1_Kd, m1_Ts, m1_err_int, m1_prev_err, m1_f_a1, m1_f_a2, m1_f_b0, m1_f_b1, m1_f_b2 );
     if(pos_1 > 0)
         dir_motor1 = 0;
     else
@@ -82,8 +71,8 @@
 {
     double reference = (potmeter2.read()-0.5)*4200;
     double position = encoder2.getPosition(); // Don’t use magic numbers!
-    double error = (reference - position)/1000;
-    pos_2 = PID( error, m2_Kp, m2_Ki, m2_Kd, m2_Ts, m2_err_int, m2_prev_err, m1_f_v1, m1_f_v2, m2_f_a1, m2_f_a2, m2_f_b0, m2_f_b1, m2_f_b2 );
+    double error = (reference - position);
+    pos_2 = PID( error, m2_Kp, m2_Ki, m2_Kd, m2_Ts, m2_err_int, m2_prev_err, m2_f_a1, m2_f_a2, m2_f_b0, m2_f_b1, m2_f_b2 );
     if(pos_2 > 0)
         dir_motor2 = 1;
     else
@@ -97,8 +86,7 @@
 {
     pwm_motor1.period(0.0001);
     pwm_motor2.period(0.0001);
-    control_ticker.attach(&m1_Controller, 0.01);
-    control_ticker.attach(&m2_Controller, 0.01);
+    control_ticker.attach(&m1_Controller, &m2_Controller, 0.01);
 
     while(1) {}  
 }
\ No newline at end of file