Daniqe Kottelenberg / Mbed 2 deprecated a_pid_kal_end_def

Wil je hier nog je PID controler kort uitleggen plus waarden aanpassen?

Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed

Fork of a_pid_kal_end by Daniqe Kottelenberg

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{