![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
PES2_mbed_os_6
Diff: Controller.cpp
- Revision:
- 3:a292bdaf03f6
- Parent:
- 0:5d4d21d56334
--- a/Controller.cpp Sat Mar 13 11:06:23 2021 +0100 +++ b/Controller.cpp Tue Mar 16 17:28:04 2021 +0100 @@ -6,7 +6,7 @@ const float Controller::COUNTS_PER_TURN = 1200.0f; // encoder resolution const float Controller::LOWPASS_FILTER_FREQUENCY = 300.0f; // given in [rad/s] const float Controller::KN = 40.0f; // speed constant in [rpm/V] -const float Controller::KP = 0.2f; // speed control parameter +const float Controller::KP = 0.15f; // speed control parameter const float Controller::MAX_VOLTAGE = 12.0f; // battery voltage in [V] const float Controller::MIN_DUTY_CYCLE = 0.02f; // minimum duty-cycle const float Controller::MAX_DUTY_CYCLE = 0.98f; // maximum duty-cycle @@ -14,7 +14,7 @@ Controller::Controller(PwmOut& pwmLeft, PwmOut& pwmRight, EncoderCounter& counterLeft, EncoderCounter& counterRight) : pwmLeft(pwmLeft), pwmRight(pwmRight), - counterLeft(counterLeft), counterRight(counterRight) { + counterLeft(counterLeft), counterRight(counterRight), thread(osPriorityHigh, STACK_SIZE) { // Initialisieren der PWM Ausgaenge