Esmee Buter / Mbed 2 deprecated Project_script_union_potmeter_1

Nieuwe kinematica + potmeter

Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed

Fork of Project_script_union_potmeter by Marijke Zondag

Diff: main.cpp

Revision:
35:01aa6cb4a35f
Parent:
34:bece2820b63b
Child:
36:bfdd1409855a
diff -r bece2820b63b -r 01aa6cb4a35f main.cpp
--- a/main.cpp	Thu Nov 01 17:31:44 2018 +0000
+++ b/main.cpp	Fri Nov 02 07:59:57 2018 +0000
@@ -68,26 +68,22 @@
 
 //Variables PID controller
 double PI = 3.14159;
-double Kp1 = 20.0;                                  //Motor 1           eerst 17.5 , nu 1
+double Kp1 = 20.0;                                  //Motor 1  
 double Ki1 = 1.02;
 double Kd1 = 1.0;
 double encoder_radians1=0;
 double err_integral1 = 0;
 double err_prev1, err_prev2;
 double err1, err2;
+BiQuad LowPassFilterDer1( 1.12160e-01, 1.12160e-01, 0.00000e+00, -7.75680e-01, 0.00000e+00 );  //sample frequency 500 Hz, cutoff 20Hz low pass
 
-//BiQuad LowPassFilterDer1(0.0640, 0.1279, 0.0640, -1.1683, 0.4241);
-//BiQuad LowPassFilterDer2(0.0640, 0.1279, 0.0640, -1.1683, 0.4241);
-BiQuad LowPassFilterDer1( 1.12160e-01, 1.12160e-01, 0.00000e+00, -7.75680e-01, 0.00000e+00 );  //sample frequency 500 Hz, cutoff 20Hz low pass
-BiQuad LowPassFilterDer2( 1.12160e-01, 1.12160e-01, 0.00000e+00, -7.75680e-01, 0.00000e+00 );
-
-
-double Kp2 = 20.0;                                  //Motor 2            eerst 17.5, nu 1
+double Kp2 = 20.0;                                  //Motor 2
 double Ki2 = 1.02;
 double Kd2 = 1.0;
 double encoder_radians2=0;
 double err_integral2 = 0;
 double u1, u2;
+BiQuad LowPassFilterDer2( 1.12160e-01, 1.12160e-01, 0.00000e+00, -7.75680e-01, 0.00000e+00 );
 
 
 int start_control = 0;