ryo ikezawa / Mbed 2 deprecated mbed_blinky

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Dependencies:   mbed

Files at this revision

API Documentation at this revision

Revision 1:fbed80ea9cf9, committed 2018-06-19

Comitter:
kavhirow
Date:
Tue Jun 19 07:34:39 2018 +0000
Parent:
0:a3c0b8cd6c61
Commit message:
last ver
;

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Tue Jun 19 06:27:26 2018 +0000
+++ b/main.cpp	Tue Jun 19 07:34:39 2018 +0000
@@ -9,8 +9,8 @@
 // Feedback gains (Arbitrary Unit)
 #define KP 1.0
 #define KD 0.04
-#define KX 0.003
-#define KV 0.002
+#define KX -0.001
+#define KV -0.0007
 
 
 // Define LEDs
@@ -56,7 +56,7 @@
 float f_velocity_prev_prev = 0;
 float omega_prev = 0;
 float f_omega_prev = 0;
-
+float ref = 0;
 
 // Interrupt handler (control loop)
 void int0() {
@@ -124,11 +124,11 @@
     f_velocity = 0.0002414*velocity + 0.0004827*velocity_prev + 0.0002414*velocity_prev_prev + 1.9556*f_velocity_prev - 0.9565*f_velocity_prev_prev;
 
     //update value
+    velocity_prev_prev = velocity_prev;
     velocity_prev = velocity;
-    velocity_prev_prev = velocity_prev;
     
+    f_velocity_prev_prev = f_velocity_prev;
     f_velocity_prev = f_velocity;
-    f_velocity_prev_prev = f_velocity_prev;
 
     count_prev = count;
     value1_prev = value1;
@@ -136,7 +136,8 @@
 
     
     // output
-    v_out = angle * KP + f_omega * KD + count * KX + f_velocity * KV;
+    v_out = angle * KP + f_omega * KD + (count - ref) * KX + f_velocity * KV;
+    ref += 40.0 / 2000.0;
     //v_out = count * KX + f_velocity * KV;
     //v_out = angle * KP + f_omega * KD ;
     if (v_out > 0) {