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;