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Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
Diff: controller_copy.cpp
- Revision:
- 49:a9ed4f4cdef7
- Parent:
- 48:39f84359998a
- Child:
- 50:283a831f84a9
- Child:
- 51:4ff37a929849
--- a/controller_copy.cpp Mon Oct 14 20:05:57 2019 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,25 +0,0 @@
-//Gains
-double e = 1.02;
-double Ts = 0.92;
-
- double K_p = 1;//Position gain
- double K_i = 1;//Integral gain
- double K_d = 1;//Diverentiation gain
-
- //static double u_i = 0;
- static double e_Prev = 0;
-
-double ControllerPID(double e, double Ts)
-{
- double u_p = K_p*e; //Position action
- double u_i = K_i*(e*Ts+u_i); //Integral action
- double u_d = K_d*((e-e_Prev)/Ts); //Diverential action
-
- e_Prev = e; //Write error to previous error
-
- double u;
-
- u = u_p + u_i + u_d;
-
- return u;
-}
\ No newline at end of file