Sven van Wincoop / Mbed 2 deprecated Controller

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Dependencies:   MODSERIAL QEI biquadFilter mbed

Fork of Controller by Ruben Lucas

Diff: main.cpp

Revision:
8:0ed8609252d3
Parent:
7:d63ec7fe96ae
Child:
9:34e3dd8548c0
--- a/main.cpp	Fri Oct 26 10:52:12 2018 +0000
+++ b/main.cpp	Fri Oct 26 10:57:25 2018 +0000
@@ -93,9 +93,9 @@
 {
 
    double Ts = 0.01; //Sampling time 100 Hz
-   double Kp = 3.51; // proportional gain
+   double Kp = 3.7; // proportional gain
    double Ki = 5;
-   double Kd = 2.1; //integral gain ranging from 0-20.
+   double Kd = 2.8; //integral gain ranging from 0-20.
    static double ErrorIntegral = 0;
    static double ErrorPrevious = Error;
    static BiQuad LowPassFilter(0.0640, 0.1279, 0.0640, -1.1683, 0.4241);