Stevie Wray
/
SkyFawkes
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Revision 10:63381713610c, committed 2019-03-03
- Comitter:
- Stevie
- Date:
- Sun Mar 03 11:22:24 2019 +0000
- Parent:
- 9:0d274fc2e6df
- Commit message:
- Initial tuning complete.
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- 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
}
}