pid+sineinput
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Diff: main.cpp
- Revision:
- 4:fc5889cf69f9
- Parent:
- 3:fe052c67c840
- Child:
- 5:ea9f9f11d7c1
diff -r fe052c67c840 -r fc5889cf69f9 main.cpp --- a/main.cpp Mon Oct 29 10:46:46 2018 +0000 +++ b/main.cpp Mon Oct 29 10:58:28 2018 +0000 @@ -19,8 +19,8 @@ HIDScope scope(2); // INITIALIZING GLOBAl VALUES -double Kp = 1; //200 , 50 -double Ki = 0; //1, 0.5 +double Kp = 100; //200 , 50 +double Ki = 10; //1, 0.5 double Kd = 0; //200, 10 double Ts = 0.1; // Sample time in seconds volatile double reference_rotation = 3.14f; //define as radians @@ -130,7 +130,7 @@ } } - + reference_rotation = PI;