Gerjan Wolterink
/
Pregelaar
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Dependencies: Encoder MODSERIAL mbed
Revision 10:36281503362a, committed 2013-11-04
- Comitter:
- gerjan
- Date:
- Mon Nov 04 21:25:46 2013 +0000
- Parent:
- 9:ca6c6295b5f1
- Commit message:
- voor naar de emg;
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Mon Nov 04 21:14:30 2013 +0000
+++ b/main.cpp Mon Nov 04 21:25:46 2013 +0000
@@ -26,7 +26,7 @@
// Variabelen benoemen voor regelaar motor.
double theta, theta_pen, up_theta, kp_theta, kd_theta, dtheta, ei_theta, ui_theta, ki_theta, ed_theta, u_theta, ud_theta, theta_pwm;
- double r, r_pen, up_r, kp_r, kd_r, dr, ei_r, ui_r, ki_r, ed_r, u_r, ud_r, r_pwm, dr_1, utot_r, inputsinus;
+ double r, r_pen, up_r, kp_r, kd_r, dr, ei_r, ui_r, ki_r, ed_r, u_r, ud_r, r_pwm, dri, dri_1, utot_r, inputsinus;
double motor1_maxu, motor2_maxu;
double Ts;
@@ -61,9 +61,10 @@
y=0;
kp_r = 0.006;
- ki_r = 0.015;
+ ki_r = 0.005;
inputsinus=0;
+ dri=0;
// Oneidige loop...
while(true) {
@@ -76,7 +77,7 @@
x = 0;//sin(inputsinus)*297.0;
y = sin(inputsinus)*210.0;
- inputsinus = inputsinus + (Ts*0.1)*pi;
+ inputsinus = inputsinus + (Ts*0.5)*pi;
//Binnen bereik blijven
@@ -110,10 +111,11 @@
//REGELAAR
up_r = kp_r * dr; //P-actie
- ui_r = (dr_1 + (dr * Ts)) * ki_r; //I-actie
+ dri = dri_1 + dr*Ts;
+ ui_r = dri_1 * ki_r; //I-actie
utot_r = up_r + ui_r; //
- dr_1 = dr; //nieuwe waardes oud maken.
+ dri_1 = dri; //nieuwe waardes oud maken.
theta_pwm = (dtheta)*3.0;
r_pwm = (utot_r/1.0);