Using HIDScope for P(I)D controller
Dependencies: FastPWM HIDScope MODSERIAL QEI biquadFilter mbed
Fork of PES_tutorial_5 by
Diff: main.cpp
- Revision:
- 21:5f88e09d6ab8
- Parent:
- 20:e00e41e3cda8
diff -r e00e41e3cda8 -r 5f88e09d6ab8 main.cpp --- a/main.cpp Sat Oct 27 15:55:00 2018 +0000 +++ b/main.cpp Mon Oct 29 12:35:54 2018 +0000 @@ -32,12 +32,6 @@ //------------------------------------------------------------------------------ // Functions -/*double EMGFilters() -{ - static BiQuad Notchfilter(1.0000, -1.6180, 1.0000, 1.0000, -1.5687, 0.9391); - static BiQuad HighPassFilter (1.0000, -2.0000, 1.0000, 1.0000, -1.8268, 0.8407); - static BiQuad LowPassFilter (1.0000, 2.0000, 1.0000, 1.0000, 0.3172, 0.1894); -}*/ double GetReferencePosition() { @@ -118,16 +112,6 @@ led = !led; } -/*void printen() -{ - pc.baud (115200); - pc.printf("Referenceposition %f \r\n", referencePosition); - pc.printf("Measured position %f \r\n", measuredPosition); - pc.printf("Motorvalue/Error %f \r\n", motorValue); - pc.printf("Proportional gain %f \r\n", Kp); - pc.printf("Integral gain %f \r\n", Ki); - pc.printf("Derivative gain %f \r\n", Kd); -}*/ //----------------------------------------------------------------------------- int main() { @@ -136,7 +120,6 @@ motor1MagnitudePin.period_us(60.0); // 60 microseconds PWM period: 16.7 kHz. MeasureControl.attach(MeasureAndControl, 0.01); SenttoHidscope.attach(hidscope, 0.02); - /*print.attach(printen, 3);*/ //Other initializations