Code om de PID controller af te stellen aan de hand van een sinus golf
Dependencies: mbed QEI MODSERIAL FastPWM biquadFilter
Diff: main.cpp
- Revision:
- 11:2375b538b631
- Parent:
- 9:aa5d6636197b
- Child:
- 13:b7a1a4245f37
--- a/main.cpp Fri Mar 22 10:54:48 2019 +0000 +++ b/main.cpp Fri Mar 22 14:45:38 2019 +0000 @@ -70,13 +70,13 @@ float upperlim2 = 748.8; //40% van 1 ronde van het grote tandwiel is 2,08 rondes van de motor // VARIABLES PID CONTROLLER -double Kp1 = 6; +double Kp1 = 5; double Ki1 = 0; double Kd1 = 1; double Kp2 = 6; // Zonder arm: 6,0,1 double Ki2 = 0; double Kd2 = 1; -double Ts = 0.001; // Sample time in seconds +double Ts = 0.0005; // Sample time in seconds float Kinematics1(float KPot) { @@ -230,8 +230,8 @@ void moter1_control(double u1) { direction1= u1 > 0.0f; //positief = CW - if (fabs(u1)> 0.7f) { - u1 = 0.7f; + if (fabs(u1)> 0.5f) { + u1 = 0.5f; } else { u1= u1; }