Revision 49:a9ed4f4cdef7, committed 2019-10-15

Comitter:

JornD

Date:

Tue Oct 15 11:34:02 2019 +0000

Parent:

48:39f84359998a

Child:

50:283a831f84a9

Child:

51:4ff37a929849

Commit message:

Cleaned the files and commented some stuff

Changed in this revision

--- a/controller.cpp	Mon Oct 14 20:05:57 2019 +0000
+++ b/controller.cpp	Tue Oct 15 11:34:02 2019 +0000
@@ -13,19 +13,7 @@
         }
 
 */
-/*
-float * Filt(float P[], float Q[])
-{
 
-    static float coefficients[5];
-        coefficients[0] = (Q[0] * pow(K,2) + Q[1] * K + Q[2])/(P[0] * pow(K,2) + P[1] * K + P[2]);
-        coefficients[1] = (2 * Q[2] - 2 * Q[0] * pow(K,2))/(P[0] * pow(K,2) + P[1] * K + P[2]);
-        coefficients[2] = (Q[0] * pow(K,2) - Q[1] * K + Q[2])/(P[0] * pow(K,2) + P[1] * K + P[2]);
-        coefficients[3] = (2 * P[2] - 2 * P[0] * pow(K,2))/(P[0] * pow(K,2) + P[1] * K + P[2]);
-        coefficients[4] = (P[0] * pow(K,2) - P[1] * K + P[2])/(P[0] * pow(K,2) + P[1] * K + P[2]);
-    return coefficients;
-} 
-*/
 void BuildController(ControllerSettings& StrucName, float P[], float Q[])
 {
     
@@ -62,4 +50,5 @@
         float PA[] = {1,2,3};
         float QA[] = {4,5,6};
         BuildController(Set_EndAffector, PA, QA);
-}
\ No newline at end of file
+}
+

--- 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

--- a/functions.h	Mon Oct 14 20:05:57 2019 +0000
+++ b/functions.h	Tue Oct 15 11:34:02 2019 +0000
@@ -1,10 +1,8 @@
 #ifndef header_h
 #define header_h
+    //Functions
     double ControllerPID(double e, double Ts); //e = error, Ts = sampling time
     //void motorAndEncoder(float PWM1, float PWM2, float dt);
-    //Define global variables
-    
+    void InitializeControllers(void); //no input
     
-    const float PI = 3.14159265359;
-
 #endif
\ No newline at end of file

--- a/main.cpp	Mon Oct 14 20:05:57 2019 +0000
+++ b/main.cpp	Tue Oct 15 11:34:02 2019 +0000
@@ -34,8 +34,6 @@
     enum States {MovementIdle, CalibrationIdle, Demo, Startup, CalibrationPhysical, CalibrationEMG, Move, TiltCup, FailState};
     States CurrentState; 
 
-    extern double X;
-
     volatile char ledcolor; //r is red, b is blue, g is green, t is bluegreen, p is purple
     volatile int errorCode;
     

--- a/structures.h	Mon Oct 14 20:05:57 2019 +0000
+++ b/structures.h	Tue Oct 15 11:34:02 2019 +0000
@@ -5,6 +5,7 @@
 //--Motor data
     struct motorReturnSub
     {
+        int zerocounts;
         int counts;
         float angle;
         float velocity;
@@ -16,6 +17,7 @@
         motorReturnSub motor2;
         motorReturnSub motor3;
     };
+    
 //--PID controller settings
     struct ControllerSettings //Controller settings of the discrete TF
     {
@@ -25,6 +27,7 @@
         float D;
         float E;
     };
+    
 //--Memory of Input/Output
     struct MemoryIO
     {
@@ -32,6 +35,7 @@
         float ddY;  //output, delayed twice
         float dX;   //input, delayed once
         float ddX;  //input, delayed twice
+        //void ShiftValues
     };