Diff: main.cpp

Revision:

4:5f7d1654108d

Parent:

3:b353ee86230a

Child:

5:a1a5b5bebd5c

diff -r b353ee86230a -r 5f7d1654108d main.cpp
--- a/main.cpp	Tue Oct 31 21:35:54 2017 +0000
+++ b/main.cpp	Tue Oct 31 22:42:21 2017 +0000
@@ -45,7 +45,7 @@
 
 //Start constants PID ------------------------------- 
 const double pi = 3.1415926535897;
-const double M1_TS = 0.001f; // (was 0.0001) 0.001 and 0.01 work without biquad filter. // // Sample time (motor - timestep)
+const double M1_TS = 0.001; // (was 0.0001) 0.001 and 0.01 work without biquad filter. // // Sample time (motor - timestep)
 
 //verplaatst
 const float     RAD_PER_PULSE = (2*pi)/4200;
@@ -82,9 +82,9 @@
     //e_der1 = biquad(e_der, f_v1, f_v2, f_a1, f_a2, f_b0, f_b1, f_b2);
     e_prev1 = e1;
     e_int1 += Ts*e1;                          // Integral   
-    
+       
     return Kp1*e1 + Ki1*e_int1 + Kd1 * e_der1;
-
+       
 }
 
 double PID2(double e2, const double Kp2, const double Ki2, const double Kd2, double Ts, double &e_int2, double &e_prev2, 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){
@@ -103,6 +103,7 @@
 float Get_X_Position(){
     double X = potMeter1 * potmultiplier;
     return X;
+    
 }
 
 float Get_Y_Position(){
@@ -113,11 +114,14 @@
 
 //-------------Get current Position-------------------START
 double motor1_Position(){ // has as output Theta
-    double pos_m1 = gainM1*Encoder1.getPosition(); // current position for theta   
+    double pos_m1 = gainM1*Encoder1.getPosition(); // current position for theta      
     return pos_m1;       
 }
 double motor2_Position(){ //output R
     double pos_m2 = gainM2 *Encoder2.getPosition(); // current position for the radius;
+    pc.baud(115200);
+    pc.printf("\r x = %f",pos_m2); 
+    
     return pos_m2;
 }
 //-----------------------------------------------------END
@@ -136,7 +140,7 @@
     float pos_M2 = motor2_Position(); // current position for the radius
     
     double delta1 = PID1(reference_motor1 - pos_M1, 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 delta2 = PID2(reference_motor2 - pos_M2, M2_KP, M2_KI, M2_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 delta2 = PID2(reference_motor2 - pos_M2, M2_KP, M2_KI, M2_KD, M1_TS, m2_err_int, m2_prev_err, m1_f_v1, m1_f_v2, M1_F_A1, M1_F_A2, M1_F_B0, M1_F_B1, M1_F_B2);
 
     double dTheta   = reference_motor1 - pos_M1;
     double dRadius  = reference_motor2 - pos_M2;
@@ -144,7 +148,8 @@
     
 
     pc.baud(115200);
-    pc.printf("\r DesPosition(X,Y):(%f,%f), pos Error(dTheta, dError):(%f,%f)\n",x,y, delta1 ,delta2);
+    //pc.printf("\r DesPosition(X,Y):(%f,%f), pos Error(dTheta, dError):(%f,%f)\n",x,y, dTheta ,dRadius);
+    //pc.printf("\r PID1 result: %f\n", delta1);
     
     //motor1PWM = motor1;
     //motor2PWM = motor2;