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Dependencies: Encoder HIDScope MODSERIAL QEI biquadFilter mbed
Diff: main.cpp
- Revision:
- 26:b3693f431d6f
- Parent:
- 25:d536056a2666
- Child:
- 27:b7caf668a682
- Child:
- 34:c672f5c0763f
--- a/main.cpp Thu Oct 08 14:25:46 2015 +0000
+++ b/main.cpp Thu Oct 08 19:17:56 2015 +0000
@@ -26,17 +26,17 @@
const double cw=0; // zero is clockwise (front view)
const double ccw=1; // one is counterclockwise (front view)
-const double Gain_P_turn=0.0067;
+const double Gain_P_turn=10; //0.0067;
// stel setpoint tussen (0 en 360) en position tussen (0 en 360)
// max verschil: 360 -> dan pwm_to_motor 1 tot aan een verschil van 15 graden-> bij 15 moet pwm_to_motor ong 0.1 zijn
// dus 0.1=15*gain gain=0.0067
// Als 3 graden verschil 0.1 dan 0.1/3=gain=0.33
- double Gain_I_turn=0.025; //(1/2000) //0.00000134
+ double Gain_I_turn=0.1; //0.025; //(1/2000) //0.00000134
// pwm_motor_I=(integrate_error_turn + sample_time*error)*gain; pwm = (4*0.01 + 4)* Gain => 0.1 pwm gewenst (na 1 seconde een verschil van 4 graden)
// 0.1 / (4.01) = Gain = 0.025
- double Gain_D_turn=0.01;
+ double Gain_D_turn=50; //0.01;
// error_derivative_turn=(error - previous_error_turn)/sample_time
//
