Diff: main.cpp

Revision:

10:63381713610c

Parent:

9:0d274fc2e6df

--- a/main.cpp	Sun Mar 03 11:16:16 2019 +0000
+++ b/main.cpp	Sun Mar 03 11:22:24 2019 +0000
@@ -73,8 +73,8 @@
     float pos_change = 0; //temp variable for speed control
     float speed_error = 0; //temp variable for speed control
 
-    float Kp = 0.01; //proportional constant
-    float Ki = 0.01; //integral constant
+    float Kp = 0.02; //proportional constant
+    float Ki = 0.05; //integral constant
     int i = 0;
 
 //    float distance_error = 0;
@@ -123,7 +123,7 @@
                     targetSpeed=(int)calcSpeed((float)m_count[i], 0.0f, (float)m_distance_ref[i], (float)max_accel, (float)m_top_speed[i]);//m_speed_ref is used as top speed
                     speed_error = pos_change - targetSpeed; //calculate different between current speed and reference speed
                     integral[i] = integral[i] + speed_error;
-                    m_duty[i] = Kp*0.1*speed_error + Ki*integral[i]; //speed proportional control
+                    m_duty[i] = Kp*0.1*speed_error + Ki*0.1*integral[i]; //speed proportional control
                 }
             }