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werkt nog niet
Dependencies: HIDScope MODSERIAL biquadFilter mbed QEI
Fork of Project_script_union by
Diff: main.cpp
- Revision:
- 33:7b94346bcead
- Parent:
- 32:137d0f27e5a8
- Child:
- 34:bece2820b63b
--- a/main.cpp Thu Nov 01 14:40:34 2018 +0000 +++ b/main.cpp Thu Nov 01 16:09:00 2018 +0000 @@ -40,8 +40,8 @@ //Global variables -const float T = 0.02f; //Ticker period Deze wordt ook gebruikt in de PID, moet die niet anders??? -const float T2 = 0.02f; +const float T = 0.002f; //Ticker period Deze wordt ook gebruikt in de PID, moet die niet anders??? +const float T2 = 0.002f; // Inverse Kinematica variables const double L1 = 0.208; // Hoogte van tafel tot joint 1 @@ -68,9 +68,9 @@ //Variables PID controller double PI = 3.14159; -double Kp1 = 30.0; //Motor 1 eerst 17.5 , nu 1 -double Ki1 = 1.3; -double Kd1 = 2.0; +double Kp1 = 1.0; //Motor 1 eerst 17.5 , nu 1 +double Ki1 = 1.0; +double Kd1 = 23.0; double encoder_radians1=0; double err_integral1 = 0; double err_prev1, err_prev2; @@ -78,11 +78,13 @@ BiQuad LowPassFilterDer1(0.0640, 0.1279, 0.0640, -1.1683, 0.4241); BiQuad LowPassFilterDer2(0.0640, 0.1279, 0.0640, -1.1683, 0.4241); +//BiQuad LowPassFilterDer1( 1.12160e-01, 1.12160e-01, 0.00000e+00, -7.75680e-01, 0.00000e+00 ); +//BiQuad LowPassFilterDer2( 1.12160e-01, 1.12160e-01, 0.00000e+00, -7.75680e-01, 0.00000e+00 ); -double Kp2 = 30.0; //Motor 2 eerst 17.5, nu 1 -double Ki2 = 1.3; -double Kd2 = 2.0; +double Kp2 = 1.0; //Motor 2 eerst 17.5, nu 1 +double Ki2 = 1.0; +double Kd2 = 23.0; double encoder_radians2=0; double err_integral2 = 0; double u1, u2;