met knopjes, voor Wubs, zit PID in dus restrictie.
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of a_pid_kal_end_def by
Diff: main.cpp
- Revision:
- 54:fb72c58a7150
- Parent:
- 53:6b91f69fa2dc
- Child:
- 55:d742332ced11
--- a/main.cpp Thu Nov 03 11:20:43 2016 +0000 +++ b/main.cpp Thu Nov 03 12:18:53 2016 +0000 @@ -196,8 +196,8 @@ if (onoffsignal_biceps==-1 && switch_signal%2==0){ //switch even //right biceps contracted{ d_ref = d_ref + w_ref * Ts; } - if (d_ref > 10 ){ - d_ref = 10; + if (d_ref > 8){ + d_ref = 8; //d_ref_const_cw = 1; } else{ @@ -207,8 +207,8 @@ if (onoffsignal_biceps==1 && switch_signal%2==0){ //switch even //left biceps contracted{ d_ref = d_ref - w_ref * Ts; } - if (d_ref < -10){ - d_ref = -10; + if (d_ref < -8){ + d_ref = -8; } else{