Margreeth de Breij / Mbed 2 deprecated Motor_EMG_Definitief

Het complete motorscript met alle gewenste functies

Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed

Fork of Motor_EMG_FinalV1_aangepastePIDwaarden by BMT M9 groep 7

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;