Helvijs Kiselis / Mbed 2 deprecated MicromousePES2

main.cpp: Sensoren einlesen und Motoren ansteuern

Dependencies:   mbed

Diff: Controller.cpp

Revision:
5:47262622a9bf
Parent:
0:9a3e7847a4be
--- a/Controller.cpp	Wed Apr 11 15:26:03 2018 +0000
+++ b/Controller.cpp	Mon Apr 16 12:44:48 2018 +0000
@@ -3,9 +3,9 @@
 using namespace std;
 
 const float Controller::PERIOD = 0.001f; // Periode von 1 ms
-const float Controller::COUNTS_PER_TURN = 1200.0f; // Encoder-Aufloesung
+const float Controller::COUNTS_PER_TURN = 1560.0f; // Encoder-Aufloesung
 const float Controller::LOWPASS_FILTER_FREQUENCY = 300.0f; // in [rad/s]
-const float Controller::KN = 40.0f; // Drehzahlkonstante in [rpm/V]
+const float Controller::KN = 15.0f; // Drehzahlkonstante in [rpm/V]
 const float Controller::KP = 0.25f; // KP Regler-Parameter
 const float Controller::KI = 4.0f; // KI Regler-Parameter
 const float Controller::I_MAX = 10000.0f; // KI Regler-Parameter Saettigung