library to use pid easier
Diff: PID_lib.cpp
- Revision:
- 8:07de6805e193
- Parent:
- 7:cb9ae21d3cbb
- Child:
- 9:2304689cab4a
diff -r cb9ae21d3cbb -r 07de6805e193 PID_lib.cpp --- a/PID_lib.cpp Sat Dec 31 09:59:09 2022 +0000 +++ b/PID_lib.cpp Sat Dec 31 10:07:26 2022 +0000 @@ -156,7 +156,7 @@ 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 + 0.03046875*rpmn1 + 0.93906251*rpmFiltn1;//10 hz + rpmFilt = 0.03046875*rpm_rec + 0.03046875*rpmn1 + 0.93906251*rpmFiltn1;//10 hz if(dir_ == 1){ pwm = speed_; dir1 = 0; @@ -166,6 +166,8 @@ dir1 = 1; dir2 = 0; } + + rpmn1 = rpm_rec;rpmFiltn1 = rpmFilt; return rpmFilt; // printf("%f;%.2f;%llu\n",speed_,rpm_rec,t_r); }