Ruprecht Altenburger
/
RT2_P3_students_G4
Template for group 4
Fork of RT2_P3_students by
Diff: main.cpp
- Revision:
- 2:769ce5f06d3e
- Parent:
- 1:a30512c3ac73
- Child:
- 3:d79c437626e7
--- a/main.cpp Mon Apr 09 05:50:04 2018 +0000 +++ b/main.cpp Mon Apr 09 08:01:29 2018 +0000 @@ -7,7 +7,7 @@ #include "DiffCounter.h" #include "IIR_filter.h" #include "LinearCharacteristics.h" -#include "PI_Cntrl.h" +//#include "PI_Cntrl.h" /* Cuboid balance on one edge on Nucleo F446RE **** IMPORTANT: use ..\Labormodelle\RT-MOD054 - Würfel\Escon_Parameter_4nucleo.edc @@ -45,6 +45,8 @@ float out_value = 1.6f; // set voltage on 1.6 V (0 A current) float w_soll = 10.0f; // desired velocity float Ts = 0.002f; // sample time of main loops +int k = 0; +LinearCharacteristics i2u(0.8f,-2.0f); //------------------------------------------ // ... here define variables like gains etc. //------------------------------------------ @@ -73,6 +75,12 @@ counter1.reset(); // encoder reset diff.reset(0.0f,0.0f); ControllerLoopTimer.attach(&updateControllers, Ts); //Assume Fs = ...; + + float value = i2u(22.2); + + + + } //****************************************************************************** //---------- control loop (called via interrupt) ------------- @@ -82,7 +90,7 @@ float vel = diff(counts); // motor velocity // ... your code - + out.write(i2u(1.5f)/3.3f); if(++k >= 199){ k = 0; pc.printf("omega_soll=%3.2f omega=%3.2f \r\n",w_soll,vel);