library to use pid easier
Diff: PID_lib.cpp
- Revision:
- 9:2304689cab4a
- Parent:
- 8:07de6805e193
--- a/PID_lib.cpp Sat Dec 31 10:07:26 2022 +0000 +++ b/PID_lib.cpp Sun Jan 01 08:39:23 2023 +0000 @@ -156,7 +156,13 @@ 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*60/ppr; - rpmFilt = 0.03046875*rpm_rec + 0.03046875*rpmn1 + 0.93906251*rpmFiltn1;//10 hz + // rpmFilt = 0.03046875*rpm_rec + 0.03046875*rpmn1 + 0.93906251*rpmFiltn1;//10 hz + // rpmFilt = 0.04503501*rpm_rec + 0.04503501*rpmn1 + 0.90992999*rpmFiltn1;//15 hz +// rpmFilt = 0.0591907*rpm_rec + 0.0591907*rpmn1 + 0.88161859*rpmFiltn1;//20 hz + rpmFilt = 0.07295966*rpm_rec + 0.07295966*rpmn1 + 0.85408069*rpmFiltn1;//25 hz + // rpmFilt = 0.09942446*rpm_rec + 0.09942446*rpmn1 + 0.80115107*rpmFiltn1;//35 hz + // rpmFilt = 0.13672874*rpm_rec + 0.13672874*rpmn1 + 0.72654253*rpmFiltn1;//50 hz + if(dir_ == 1){ pwm = speed_; dir1 = 0;