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;
     }