alles ingevoegd
Dependencies: FastPWM HIDScope MODSERIAL QEI mbed biquadFilter
Fork of deelPID by
Diff: main.cpp
- Revision:
- 4:93c4e826d11d
- Parent:
- 3:53fb8bd0a448
- Child:
- 5:8e326d07f125
diff -r 53fb8bd0a448 -r 93c4e826d11d main.cpp --- a/main.cpp Wed Oct 31 11:47:36 2018 +0000 +++ b/main.cpp Wed Oct 31 12:05:10 2018 +0000 @@ -9,7 +9,7 @@ DigitalOut gpo(D0); DigitalOut led(LED_RED); AnalogIn pot1(A4); //POORTEN VERANDEREN -//AnalogIn pot2(); //Beneden is I control op 0 gezet. //POORTEN veranderen +AnalogIn pot2(A3); //Beneden is I control op 0 gezet. //POORTEN veranderen AnalogIn pot3(A5); //POORTEN VERANDEREN QEI encoder1(D10, D11, NC, 32); QEI encoder2(D12, D13, NC, 32); @@ -21,7 +21,7 @@ AnalogIn a0(A0); AnalogIn a1(A1); AnalogIn a2(A2); -AnalogIn a3(A3); +//AnalogIn a3(A3); MODSERIAL pc(USBTX, USBRX); @@ -69,12 +69,12 @@ double IntegralErrorq2 = 0.0; double DerivativeErrorq1 = 0.0; double DerivativeErrorq2 = 0.0; -double GainP1 = 2.0; -double GainI1 = 1.2; -double GainD1 = 0.0; -double GainP2 = 2.0; -double GainI2 = 2.0; -double GainD2 = 2.0; +double GainP1 = 3.0; +double GainI1 = 0.0; +double GainD1 = 0.235; +double GainP2 = 3.0; +double GainI2 = 0.0; +double GainD2 = 0.235; double TickerPeriod = 1.0/400.0; // Global variables EMG double EMGdata1; @@ -100,8 +100,8 @@ int countstep = 0; //Demo variabelen -double vxMax = 3.0; -double vyMax = 3.0; +double vxMax = 2.0; +double vyMax = 2.0; int DemoStage = 0; @@ -113,7 +113,7 @@ EMGdata1 = a0.read(); // store values in the scope EMGdata2 = a1.read(); EMGdata3 = a2.read(); - EMGdata4 = a3.read(); + EMGdata4 = 0.0; //a3.read(); } // EMG High pass filters @@ -358,11 +358,11 @@ { //Motor 1 //Keep signal within bounds - if (PIDerrorq1 > 0.6){ //tijdelijk 0.6, hoort 1.0 te zijn - PIDerrorq1 = 0.6; + if (PIDerrorq1 > 1.0){ //tijdelijk 0.6, hoort 1.0 te zijn + PIDerrorq1 = 1.0; } - else if (PIDerrorq1 < -0.6){ - PIDerrorq1 = -0.6; + else if (PIDerrorq1 < -1.0){ + PIDerrorq1 = -1.0; } //Direction if (PIDerrorq1 <= 0){ @@ -376,11 +376,11 @@ //Motor 2 //Keep signal within bounds - if (PIDerrorq2 > 0.6){ - PIDerrorq2 = 0.6; + if (PIDerrorq2 > 1.0){ + PIDerrorq2 = 1.0; } - else if (PIDerrorq2 < -0.6){ - PIDerrorq2 = -0.6; + else if (PIDerrorq2 < -1.0){ + PIDerrorq2 = -1.0; } //Direction @@ -491,9 +491,9 @@ //scope.set(0, q1Pos); //scope.set(1, q1Ref); - GainP1 = 3.0; //pot3.read() * 10; - GainI1 = 0; //pot2.read() * 10; - GainD1 = 0.235;//pot1.read() ; + //GainP1 = pot3.read() * 10; + //GainI1 = pot2.read() * 10; + //GainD1 = pot1.read() ; countstep++; counter++;