Jorn-Jan van de Beld / Mbed 2 deprecated kin_PD_project

begin van episch avontuur

Dependencies:   QEI mbed

Diff: main.cpp

Revision:
3:329acce2487c
Parent:
2:821ae727bf8c
Child:
4:95bf97b44237
--- a/main.cpp	Tue Oct 31 12:16:16 2017 +0000
+++ b/main.cpp	Tue Oct 31 13:26:52 2017 +0000
@@ -30,7 +30,7 @@
 double L3 = 0.150;
 
 // reference position
-double q1=0;    // positie q2 in radialen
+double q1=0;    // positie q1 in radialen
 double q2=0;    // positie q2 in radialen
 double q1_pos;
 double q2_pos;
@@ -54,6 +54,7 @@
 
 double Kp;   // proportional coefficient       (
 double Kd;   // differential coefficient
+double Ki;   // integrating  coefficient
 
 
 void wasd()
@@ -191,8 +192,8 @@
 {
     pc.baud(115200);
     pulses2rad=(2*pi)/4200;
-    Kp = 2.5;
-    Kd = 0.2*Kp;
+    Kp = 100;
+    Ki = ;
     tick_sample.attach_us(&aansturing, 1000); //sample frequency 1000 Hz;
     tick_wasd.attach(&wasd, 0.1);
     led_g = 0;