Diff: PID/PID.cpp

Revision:

10:12f9371f3e0f

Parent:

9:2779500685cb

--- a/PID/PID.cpp	Sun May 15 16:15:44 2016 +0000
+++ b/PID/PID.cpp	Mon May 16 09:50:44 2016 +0000
@@ -2,6 +2,7 @@
 
 PIDControll::PIDControll() { 
     //variabelen instellen als we ons PIDControll object aanmaken
+    //TODO: finetunen, andere Kp Ki Kd waarden
     Kp = 10;
     Ki = 0.0001; 
     Kd = 5;
@@ -12,6 +13,7 @@
     derivative = 0;
     errorPID = 0;  
     dir = 0;  
+    delay = 0;
 }
 
 void PIDControll::PIDaanpassing(float angle){
@@ -24,14 +26,15 @@
     (errorPID > 0)?(dir = 1):(dir = 0);
     
     // errorPID is restricted between -400 and 400 
+    //TODO: andere maximum of minimum errorPID (verhogen? verlagen?)
     if(errorPID > 400)
         errorPID = 400;
     else if(errorPID < -400)
         errorPID = -400;   
    
    stop = 0;   
+   //TODO: finetunes: mss hoger of lager
    delay = 0.1/abs(errorPID);      // speed should be proportional to error, therefore time delay
                                      //between steps should be inverse proportional to error.
-   if (abs(errorPID)< Kp/2) stop = 1;  // 0.5 deg noise margin
-         
+   if (abs(errorPID)< Kp/2) stop = 1;  // 0.5 deg noise margin    
 }
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