Diff: main.cpp

Revision:

24:487c898c8d71

Parent:

21:dd4bbb617415

Child:

25:0ee6b164f234

--- a/main.cpp	Wed Mar 15 17:16:22 2017 +0000
+++ b/main.cpp	Wed Mar 15 18:14:40 2017 +0000
@@ -5,9 +5,9 @@
 #include "parser.h"
 #include <cmath>
 
-#define kp 0.08f
+#define kp 0.1f
 #define ki 0.0f //0.05f
-#define kd 0.0f //0.5f
+#define kd 0.20f //0.5f
 #define dt 0.002f                        //given in ms, used to call the PID c.
 
 volatile uint8_t state = 0;
@@ -31,7 +31,7 @@
 Ticker controlTicker;
 
 volatile float fi0 = 0;                 //number of revs done
-volatile int goalRevs = 400;
+volatile int goalRevs = 200;
 volatile float fi = 2*3.1415*goalRevs;
 volatile float goalW = 0;               //desired angular velocity
 volatile float accError = 0;
@@ -39,7 +39,7 @@
 
 float getDuty(float w){
     for (int i = 0; i < 28; i++) {      //iterate through the angular velocities
-        if (w > angularVelocities[i] && w <= angularVelocities[i+1]) {
+        if (w >= angularVelocities[i] && w <= angularVelocities[i+1]) {
             if (w-angularVelocities[i] < angularVelocities[i+1]-w ) {
                 return dutyCycles[i];
             }