Baser Kandehir / Mbed 2 deprecated gimbalController_brushless_IMU Featured

This is a one axis gimbal control program that takes roll angle from an IMU and moves the gimbal brushless motor accordingly.

Dependencies:   MPU6050 brushlessController_TB6612FNG ledControl2 mbed

Diff: main.cpp

Revision:
6:af164f09f963
Parent:
5:477eaa33eff5
Child:
7:b65164847018
--- a/main.cpp	Wed Jul 22 13:16:04 2015 +0000
+++ b/main.cpp	Wed Jul 22 14:03:32 2015 +0000
@@ -62,8 +62,8 @@
 bool stop;          // to stop the motor
 float delay;        // time delay between steps
 float Kp = 10;
-float Ki = 0.001; 
-float Kd = 0;
+float Ki = 0.0001; 
+float Kd = 5;
 float set_point = 0;         // which angle camera should stay
 float proportional = 0;
 float last_proportional =0;
@@ -84,8 +84,7 @@
     filter.attach(&compFilter, 0.005);       // Call the complementaryFilter func. every 5 ms (200 Hz sampling period)  
     gimbal.attach(&gimbalPID,  0.005);       // Same period with gimbalPID (important)  
     while(1)
-    {      
-        
+    {          
      /*   pc.printf("%.1f,%.1f\r\n",rollAngle,pitchAngle);
         wait_ms(40);*/
     }