library to use pid easier
Diff: PID_lib.cpp
- Revision:
- 6:2006d78be349
- Parent:
- 5:ae183f132d39
- Child:
- 7:cb9ae21d3cbb
--- a/PID_lib.cpp Sat Dec 31 07:13:29 2022 +0000 +++ b/PID_lib.cpp Sat Dec 31 09:33:52 2022 +0000 @@ -1,15 +1,12 @@ #include "PID_lib.h" -PID_lib::PID_lib(PinName direksi1, PinName direksi2, PinName pulseWidth) : dir1(direksi1), dir2(direksi2), pwm(pulseWidth){ - // ppr = 540.0f; - ppr = 1000.0f; - +PID_lib::PID_lib(PinName direksi1, PinName direksi2, PinName pulseWidth) : dir1(direksi1), dir2(direksi2), pwm(pulseWidth){ dir1 = 0; dir2 = 0; pwm = 0; - float ppr = 540.0f; + ppr = 270.0f; float phi = 3.14285714; @@ -157,7 +154,8 @@ } float PID_lib::record_data(int dir_,float speed_, float freq_rec, float t_r){ - rpm_rec = freq_rec/ppr*60; +// rpm_rec = freq_rec/ppr*60; + rpm_rec = freq_rec*60/ppr; if(dir_ == 1){ pwm = speed_; dir1 = 0;