Motor
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Revision 10:b0e6051a6109, committed 2013-11-03
- Comitter:
- Reiko
- Date:
- Sun Nov 03 11:41:40 2013 +0000
- Parent:
- 9:bec5a728405f
- Commit message:
- Increased PI controller parameters
Changed in this revision
motor.cpp | Show annotated file Show diff for this revision Revisions of this file |
motor.h | Show annotated file Show diff for this revision Revisions of this file |
diff -r bec5a728405f -r b0e6051a6109 motor.cpp --- a/motor.cpp Sun Sep 22 07:24:15 2013 +0000 +++ b/motor.cpp Sun Nov 03 11:41:40 2013 +0000 @@ -7,15 +7,15 @@ PwmOut pwm(PWMpin); pwm.period_us(pwmPeriod); setPoint = 0; - pMulti = 32; - iDiv = 1; + pMulti = 48; + iMulti = 2; dMulti = 1; error = 0; prevError = 0; P = 0; I = 0; minPwm = 100; - pidMulti = 128; + pidMulti = 256; iMax = 4096 * pidMulti; currentSpeed = 0; @@ -72,7 +72,7 @@ minPwmValue = -minPwm; } - I += error * pidMulti / iDiv; + I += error * pidMulti * iMulti; //constrain integral if (I < -iMax) I = -iMax; if (I > iMax) I = iMax;
diff -r bec5a728405f -r b0e6051a6109 motor.h --- a/motor.h Sun Sep 22 07:24:15 2013 +0000 +++ b/motor.h Sun Nov 03 11:41:40 2013 +0000 @@ -89,7 +89,7 @@ int setPoint; int pMulti; - int iDiv; + int iMulti; int dMulti; int error; int prevError;