Diff: pidControl.h

Revision:

2:53d2f9b8fed1

Parent:

1:fe23126b0389

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pidControl.h	Tue Oct 20 08:04:38 2015 +0000
@@ -0,0 +1,26 @@
+PinName m1_enc_a = D12;
+PinName m1_enc_b = D13;
+PinName m1_pwm = D6;
+PinName m1_dir = D7;
+
+PinName m2_enc_a = D11;
+PinName m2_enc_b = D10;
+PinName m2_pwm = D5;
+PinName m2_dir = D4;
+
+PinName m2_pot = A0;
+PinName m1_pot = A1;
+
+const double pid_upper_limit = 1, pid_lower_limit = 0;
+
+const double motor1_kp = 0.75f, motor1_ki = 0.001f, motor1_kd = 0.005f;
+const double motor2_kp = 0.75f, motor2_ki = 0.001f, motor2_kd = 0.005f;
+
+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;
+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;
+
+int sigPerRev = 4192;
+float tickRate = 0.01f;
+float graphTickRate = 0.01f;
+
+float toRadians(int pulses);