Bryce Williams / Mbed 2 deprecated ESP8266_pid_spd_and_pos_webserver_SDcard

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Dependencies:   4DGL-uLCD-SE PID QEI SDFileSystem mbed

Files at this revision

API Documentation at this revision

Revision 2:07a3107e7664, committed 2015-11-27

Comitter:
electromotivated
Date:
Fri Nov 27 15:30:50 2015 +0000
Parent:
1:d69f57dcde02
Child:
3:7fb9c4c7e24b
Commit message:
Banishing of a magic number

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Thu Nov 26 17:31:59 2015 +0000
+++ b/main.cpp	Fri Nov 27 15:30:50 2015 +0000
@@ -53,8 +53,12 @@
                                                 // this is encoder specific.
 enum CONTROL_MODE{POSITION = 0, SPEED = 1};
 bool control_mode = POSITION;
-float kp, ki, kd;           // Gain variables for working
+float kp, ki, kd;                              // Gain variables for working
 const float Ts = 0.04;                         // 25Hz Sample Freq (40ms Sample Time)
+const float Ts_PID_CALLBACK = Ts/2.0;          // Update Motors and sensers twice as 
+                                               // fast as PID sample rate, ensures
+                                               // PID feedback is upto date every 
+                                               // time PID calculations run
 
 // Vars to store gains for Speed and Position when switching Control modes
 const float kp_init = 2.5;         // Good Kp for Position Control
@@ -169,7 +173,7 @@
     // Update sensors and feedback twice as fast as PID sample time
     // this makes pid react in real-time avoiding errors due to 
     // missing counts etc. 
-    motor.attach(&pid_callback, Ts/2.0);
+    motor.attach(&pid_callback, Ts_PID_CALLBACK);
     
     // Start PID sampling
     pid.start();