Gustavo Gran / Mbed 2 deprecated LQR_With_Integrator_Implicito

ver 1

Dependencies:   mbed QEI PTC3471 USBDevice

Diff: main.cpp

Revision:
6:f3fae203d0a7
Parent:
5:f7f8a848fe6f
Child:
7:e7cd972393d8
--- a/main.cpp	Fri Sep 27 18:39:14 2019 +0000
+++ b/main.cpp	Fri Sep 27 18:42:24 2019 +0000
@@ -53,11 +53,11 @@
 double th1_a = 0;                                                               // Valor de th1 um período de amostragem anterior
 
 float  u=0;
-float K1=-1.494698e-01;
-float K2=-2.820671e+00;
-float K3=-1.629279e-01;
-float K4=-3.205845e-01;
-float Ki = 0;
+float K1=-0.2667;
+float K2=-3.02;
+float K3=-0.1952;
+float K4=-0.3465;
+float Ki =-0.0015;
 float v = 0;
 float vNext = 0;
 float rBraco = 0;