fachrizi kiki / PID_lib

library to use pid easier

Files at this revision

API Documentation at this revision

Revision 9:2304689cab4a, committed 18 months ago

Comitter:
fachrizi_kiki
Date:
Sun Jan 01 08:39:23 2023 +0000
Parent:
8:07de6805e193
Commit message:
update filter 15 hz dan 20 hz;

Changed in this revision

PID_lib.cpp Show annotated file Show diff for this revision Revisions of this file 
--- 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;