Kevin Hetterscheid / PIDController

PID Controller

Dependencies:   HIDScope MODSERIAL PinDetect QEI biquadFilter

pidControl.h

Committer:
dolcaer
Date:
2015-10-20
Revision:
4:a722452d8fd1
Parent:
2:53d2f9b8fed1

File content as of revision 4:a722452d8fd1:

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);