Henk van Gansen
Vanmorgen aan gewerkt
Dependencies: FastPWM HIDScope MODSERIAL QEI biquadFilter mbed
Fork of
Project_BioRobotics
by 
Jordi Luong
Revision 13:b455e2e8bed2, committed 2017-11-01
- Comitter:
- SybrandBumaCDA
- Date:
- Wed Nov 01 11:12:48 2017 +0000
- Parent:
- 12:12b72bd60fd1
- Commit message:
- 1-11-2017 werkt ongeveer;
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Wed Nov 01 06:46:29 2017 +0000 +++ b/main.cpp Wed Nov 01 11:12:48 2017 +0000 @@ -40,7 +40,7 @@ const double motorRatio = 131.25; // Ratio of the gearbox in the motors [] const double radPerPulse = 2*pi/(32*motorRatio); // Amount of radians the motor rotates per encoder pulse [rad/pulse] double xVelocity = 0, yVelocity = 0; // X and Y velocities of the end effector at the start -double velocity = 0.07; // X and Y velocity of the end effector when desired +double velocity = 0.05; // X and Y velocity of the end effector when desired // MOTOR 1 volatile double position1; // Position of motor 1 [rad] @@ -48,9 +48,9 @@ double motor1Max = 0; // Maximum rotation of motor 1 [rad] double motor1Min = 2*pi*-40/360; // Minimum rotation of motor 1 [rad] // Controller gains -const double motor1_KP = 7; // Position gain [] -const double motor1_KI = 9; // Integral gain [] -const double motor1_KD = 1; // Derivative gain [] +const double motor1_KP = 13; // Position gain [] +const double motor1_KI = 7; // Integral gain [] +const double motor1_KD = 0.3; // Derivative gain [] double motor1_err_int = 0, motor1_prev_err = 0; // Derivative filter coefficients const double motor1_f_a1 = 0.25, motor1_f_a2 = 0.8; // Derivative filter coefficients [] @@ -61,12 +61,14 @@ // MOTOR 2 volatile double position2; // Position of motor 2 [rad] volatile double reference2 = 0; // Desired rotation of motor 2 [rad] -double motor2Max = 2*pi*30/360; // Maximum rotation of motor 2 [rad] -double motor2Min = 2*pi*-30/360; // Minimum rotation of motor 2 [rad] +double motor2Max = 2*pi*25/360; // Maximum rotation of motor 2 [rad] +double motor2Min = 2*pi*-28/360; // Minimum rotation of motor 2 [rad] // Controller gains -const double motor2_KP = potmeter1*10; // Position gain [] -const double motor2_KI = potmeter2*20; // Integral gain [] -const double motor2_KD = 1; // Derivative gain [] +//const double motor2_KP = potmeter1*10; // Position gain [] +//const double motor2_KI = potmeter2*20; // Integral gain [] +const double motor2_KP = 13; // Position gain [] +const double motor2_KI = 5; // Integral gain [] +const double motor2_KD = 0.1; // Derivative gain [] double motor2_err_int = 0, motor2_prev_err = 0; // Derivative filter coefficients const double motor2_f_a1 = 0.25, motor2_f_a2 = 0.8; // Derivative filter coefficients []