Jair Zambrano / Mbed 2 deprecated CAR

estabilizador

Dependencies:   MMA8451Q PID TSI mbed

Fork of CAR by mauricio duque

Files at this revision

API Documentation at this revision

Revision 1:f22840ee371d, committed 2018-06-29

Comitter:
JairZambrano97
Date:
Fri Jun 29 17:15:42 2018 +0000
Parent:
0:178159bf8a9c
Commit message:
estabilizador

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Thu Jun 28 22:20:25 2018 +0000
+++ b/main.cpp	Fri Jun 29 17:15:42 2018 +0000
@@ -41,14 +41,14 @@
 int main()
 {
     //Analog input from 0.0 to 3.3V
-    controller.setInputLimits(-0.40, 0.40);
+    controller.setInputLimits(0.0, 0.40);
     //Pwm output from 0.0 to 1.0
-    controller.setOutputLimits(0.0, 1.0);
+    controller.setOutputLimits(0.0, 4.5);
     //If there's a bias.
     controller.setBias(0.3);
     controller.setMode(1);
     //We want the process variable to be 1.7V
-    controller.setSetPoint(0.00);
+    controller.setSetPoint(0.20);
     
    // directWheelL = fordward;
 //    directWheelR = fordward;
@@ -61,7 +61,7 @@
     while (true) {
         float x, y, z;
         x = abs(acc.getAccX());
-        y = acc.getAccY();
+        y = abs(acc.getAccY());
         z = abs(acc.getAccZ());
         
         //pwmWheelL = 1.0 - tsi.readPercentage();