Kevin Hetterscheid / PIDController

PID Controller

Dependencies:   HIDScope MODSERIAL PinDetect QEI biquadFilter

pidControl.h@4:a722452d8fd1, 2015-10-20 (annotated)

Committer:
dolcaer
Date:
Tue Oct 20 08:35:36 2015 +0000
Revision:
4:a722452d8fd1
Parent:
2:53d2f9b8fed1 
Initial Commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
AeroKev 0:d38eb4622914 1 PinName m1_enc_a = D12;
AeroKev 0:d38eb4622914 2 PinName m1_enc_b = D13;
AeroKev 0:d38eb4622914 3 PinName m1_pwm = D6;
AeroKev 0:d38eb4622914 4 PinName m1_dir = D7;
AeroKev 0:d38eb4622914 5
AeroKev 0:d38eb4622914 6 PinName m2_enc_a = D11;
AeroKev 0:d38eb4622914 7 PinName m2_enc_b = D10;
AeroKev 0:d38eb4622914 8 PinName m2_pwm = D5;
AeroKev 0:d38eb4622914 9 PinName m2_dir = D4;
AeroKev 0:d38eb4622914 10
AeroKev 0:d38eb4622914 11 PinName m2_pot = A0;
AeroKev 0:d38eb4622914 12 PinName m1_pot = A1;
AeroKev 0:d38eb4622914 13
AeroKev 0:d38eb4622914 14 const double pid_upper_limit = 1, pid_lower_limit = 0;
AeroKev 0:d38eb4622914 15
AeroKev 0:d38eb4622914 16 const double motor1_kp = 0.75f, motor1_ki = 0.001f, motor1_kd = 0.005f;
AeroKev 1:fe23126b0389 17 const double motor2_kp = 0.75f, motor2_ki = 0.001f, motor2_kd = 0.005f;
AeroKev 0:d38eb4622914 18
AeroKev 0:d38eb4622914 19 const double m1_f_a1 = 1.0, m1_f_a2 = 2.0, m1_f_b0 = 1.0, m1_f_b1 = 3.0, m1_f_b2 = 4.0;
AeroKev 0:d38eb4622914 20 const double m2_f_a1 = 1.0, m2_f_a2 = 2.0, m2_f_b0 = 1.0, m2_f_b1 = 3.0, m2_f_b2 = 4.0;
AeroKev 0:d38eb4622914 21
AeroKev 0:d38eb4622914 22 int sigPerRev = 4192;
AeroKev 0:d38eb4622914 23 float tickRate = 0.01f;
AeroKev 0:d38eb4622914 24 float graphTickRate = 0.01f;
AeroKev 0:d38eb4622914 25
AeroKev 0:d38eb4622914 26 float toRadians(int pulses);