Diff: PID_lib.cpp

Revision:

1:ebb9cfc0cff5

Parent:

0:e14308f43fdf

Child:

2:77ef3d60d8d9

--- a/PID_lib.cpp	Sun Oct 16 09:27:54 2022 +0000
+++ b/PID_lib.cpp	Sun Oct 16 10:07:21 2022 +0000
@@ -1,27 +1,27 @@
 #include "PID_lib.h"
 #include "mbed.h"
 
-PID_lib::PID_lib(PinName direksi1, PinName direksi2, PinName pulseWidth, float rpm) : dir1(direksi1), dir2(direksi2), pwm_(pulseWidth), rpm_(rpm){
-    rpm = rpm_; 
+PID_lib::PID_lib(PinName direksi1, PinName direksi2, PinName pulseWidth, float rpm) : dir1(direksi1), dir2(direksi2), pwm(pulseWidth), rpm(rpm){
+    rpm = rpm; 
     dir1 = 0;
     dir2 = 0;
-    pwm_ = 0;
+    pwm = 0;
     
-    float kpA = 0.007770; 
-    float kiA = 0.003297; 
-    float kdA = 0.000015;
-
-    float kpB = 0.03134; 
-    float kiB = 0.003605; 
-    float kdB = 0.001002;
-
-    float kpC = 0.02040;  
-    float kiC = 0.003292; 
-    float kdC = 0.000015;
-
-    float kpD = 0.02031; 
-    float kiD = 0.002760; 
-    float kdD = 3.943e-04;
+//    float kpA = 0.007770; 
+//    float kiA = 0.003297; 
+//    float kdA = 0.000015;
+//
+//    float kpB = 0.03134; 
+//    float kiB = 0.003605; 
+//    float kdB = 0.001002;
+//
+//    float kpC = 0.02040;  
+//    float kiC = 0.003292; 
+//    float kdC = 0.000015;
+//
+//    float kpD = 0.02031; 
+//    float kiD = 0.002760; 
+//    float kdD = 3.943e-04;
     
     float ppr = 540.0f;
     float phi = 3.14285714;
@@ -90,7 +90,7 @@
   //pwm saturasi end
   
   //motor start
-  pwm_ = fabs(pwmLebih1);
+  pwm = fabs(pwmLebih1);
   //motor end
   
   lastPid = pidPwm;