pid+sineinput
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Revision 6:bbc9ce35e0a4, committed 2018-10-30
- Comitter:
- cmaas
- Date:
- Tue Oct 30 06:35:29 2018 +0000
- Parent:
- 5:ea9f9f11d7c1
- Commit message:
- Correct Kp, Ki, Kd values added
Changed in this revision
Math.lib | Show diff for this revision Revisions of this file |
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r ea9f9f11d7c1 -r bbc9ce35e0a4 Math.lib --- a/Math.lib Mon Oct 29 11:35:56 2018 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://os.mbed.com/users/inst/code/Math/#067c036b09e0
diff -r ea9f9f11d7c1 -r bbc9ce35e0a4 main.cpp --- a/main.cpp Mon Oct 29 11:35:56 2018 +0000 +++ b/main.cpp Tue Oct 30 06:35:29 2018 +0000 @@ -6,7 +6,7 @@ #include "QEI.h" #include "MODSERIAL.h" #include "HIDScope.h" -#include "Math.h" +//#include "Math.h" AnalogIn button2(A4); PwmOut pwmpin1(D6); @@ -21,9 +21,9 @@ // INITIALIZING GLOBAl VALUES double PI = 3.141592653589793238462; -double Kp = 100; //200 , 50 -double Ki = 10; //1, 0.5 -double Kd = 0; //200, 10 +double Kp = 16; //200 , 50 +double Ki = 0; //1, 0.5 +double Kd = 4.5; //200, 10 double Ts = 0.1; // Sample time in seconds volatile double reference_rotation = PI; //define as radians double motor_position; @@ -100,7 +100,7 @@ pc.baud(9600); //show_counts.attach(PrintFlag, 0.2); ref_rot.attach(Motor_mover, 0.01); - Scope_Data.attach(ScopeData, 0.1); + Scope_Data.attach(ScopeData, 0.01); // DEFININING VARIABLES //float reference; @@ -121,18 +121,18 @@ foo[a] = 3.14f/length*(a); //printf("%f\n\r", foo[a]); reference_rotation = foo[a]; - wait(0.1f); + wait(0.2f); } for(a=10; a<18; a++){ foo[a] = 3.14f/length*b; //printf("%f\n\r", foo[a]); reference_rotation = foo[a]; b = b-1.0f; - wait(0.1f); + wait(0.2f); } } - reference_rotation = PI; + reference_rotation = 0;