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Dependencies: Encoder HIDScope MODSERIAL QEI biquadFilter mbed
Diff: main.cpp
- Revision:
- 13:bcf8ec7120ab
- Parent:
- 12:26759959c960
- Child:
- 14:599896acf576
--- a/main.cpp Wed Oct 07 13:41:11 2015 +0000
+++ b/main.cpp Wed Oct 07 13:51:17 2015 +0000
@@ -21,6 +21,14 @@
// 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
+
+ double Gain_I_turn=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=1;
+ // error_derivative_turn=(error - previous_error_turn)/sample_time
+ //
double conversion_counts_to_degrees=0.085877862594198;
// gear ratio motor = 131
@@ -123,13 +131,6 @@
previous_error_turn=error; // current error is saved to memory constant to be used in
// the next loop for calculating the derivative error
-
- // 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_I_turn=0.025; //(1/2000) //0.00000134
-
- double Gain_D_turn=0.1;
pwm_to_motor_turn = error*Gain_P_turn; // output P controller to pwm
@@ -137,7 +138,7 @@
pwm_motor_turn_I = integrate_error_turn*Gain_I_turn; // output I controller to pwm
pwm_motor_turn_D = error_derivative_turn*Gain_D_turn; // output D controller to pwm
- pwm_to_motor_turn = pwm_motor_turn_P + pwm_motor_turn_I;
+ pwm_to_motor_turn = pwm_motor_turn_P + pwm_motor_turn_I + pwm_motor_turn_D;
//
// double pwm_to_motor_turn = pwm_motor_turn_P + pwm_motor_turn_I + pwm_motor_turn_D; // Total output PID controller to pwm
