Het complete motorscript met alle gewenste functies
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of Motor_EMG_Definitief by
Diff: main.cpp
- Revision:
- 5:98cf456b08d7
- Parent:
- 4:92a3b38a5302
- Child:
- 6:d1d747050fcc
--- a/main.cpp Mon Oct 26 19:56:49 2015 +0000 +++ b/main.cpp Tue Oct 27 10:23:44 2015 +0000 @@ -81,8 +81,8 @@ const double m2_Ts = 0.001, m1_Ts = 0.001; //Controller gain Motor 2 & 1 - const double m2_Kp = 2.1/57,m2_Ki = 3.9/57, m2_Kd = 0.1/57; - const double m1_Kp = 2.1/57,m1_Ki = 3.9/57, m1_Kd = 0.1/57; + const double m2_Kp = 0.1523,m2_Ki = 0.08585, m2_Kd = 0.004534; + const double m1_Kp = 0.1523,m1_Ki = 0.08585, m1_Kd = 0.004534; double m2_err_int = 0, m2_prev_err = 0; double m1_err_int = 0, m1_prev_err = 0;