Diff: main.cpp

Revision:

11:4747badb2448

Parent:

10:c28d133a1408

--- a/main.cpp	Tue Apr 03 12:49:11 2018 +0000
+++ b/main.cpp	Wed Apr 04 05:58:25 2018 +0000
@@ -63,7 +63,7 @@
 DigitalOut myled(LED1);
 
 // Controllers
-PID pid_RPM_Right_motor(1.0f, 0.0f, 0.0f, (((float)periodPWMWrite)/1000000.0f));
+PID pid_RPM_Right_motor(0.00175f, 0.00200f, 0.000f, (((float)periodPWMWrite)/1000000.0f));
 
 // LOCAL FUNCTION DECLARATIONS
 // Task worker functions
@@ -122,23 +122,24 @@
     pcLink.baud(115200);
     pcLink.format(8, SerialBase::None, 1);
     
-    mypwm.period_us(2000);
-    mypwm.write(0.5);
+    mypwm.period_us(3500);
+    mypwm.write(0.0);
   
     myTimer.start();
     
     //Analog input from 0.0 to 100.0 impulses per measurement period
-    pid_RPM_Right_motor.setInputLimits(0.0f, 100.0f);
+    pid_RPM_Right_motor.setInputLimits(16.0f, 35.0f);
     
     //Pwm output from 0.0 to 1.0
-    pid_RPM_Right_motor.setOutputLimits(0.0f, 1.0f);
+    pid_RPM_Right_motor.setOutputLimits(0.05f, 1.0f);
     
     //If there's a bias.
     pid_RPM_Right_motor.setBias(0.0f);
     pid_RPM_Right_motor.setMode(AUTO_MODE);
     
     //We want the process variable to be 0.0 RPM
-    pid_RPM_Right_motor.setSetPoint(0.0f);
+    fRPMSetpoint = 16.0f;
+    pid_RPM_Right_motor.setSetPoint(fRPMSetpoint);
 }
 
 // Task worker functions definitions
@@ -190,7 +191,7 @@
 
     mypwm.write(fPwmDuty);
 
-    pcLink.printf("PWM: %.2f %%\tIMP: %u imp.\tSET: %.2f imp.\t\r", mypwm.read() * 100, uiImpSens, fRPMSetpoint);
+    pcLink.printf("PWM: %.2f %%\tIMP: %.2f imp.\tSET: %.2f imp.\t\r", mypwm.read() * 100, (float)uiImpSens, fRPMSetpoint);
 
 //    pcLink.printf("\r\nPWM: %.2f %%     \r\n", mypwm.read() * 100);
 }
@@ -203,10 +204,10 @@
  */
 void tskRPMSetpoint(void)
 {
-    fRPMSetpoint += 10.0f;
-    if (100.0f < fRPMSetpoint)
+    fRPMSetpoint += 2.0f;
+    if (35.0f < fRPMSetpoint)
     {
-        fRPMSetpoint = 0.0f;
+        fRPMSetpoint = 16.0f;
     }
 
     pid_RPM_Right_motor.setSetPoint(fRPMSetpoint);