Diff: main.cpp

Revision:

2:07a3107e7664

Parent:

1:d69f57dcde02

Child:

3:7fb9c4c7e24b

--- 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();