Laboratório Controle Aplicado / PTC3471

Biblioteca PTC3471 - Algoritmo de Trava - V1.0

Dependents:   Template_PTC3471_Geral LQR_With_Integrator_Implicito LQR_No_Integrator_Implicito Template_PTC3471_Geral_2020_V2 ... more

Fork of PTC3471 by Arthur Oliveira

Diff: PTC3471.cpp

Revision:
9:3e57f111bace
Parent:
5:87f427c20e48
Child:
10:c26257e7778a
diff -r 87f427c20e48 -r 3e57f111bace PTC3471.cpp
--- a/PTC3471.cpp	Fri Aug 25 14:22:16 2017 +0000
+++ b/PTC3471.cpp	Thu Aug 09 19:45:20 2018 +0000
@@ -1,16 +1,16 @@
 #include "PTC3471.h"
 #include "mbed.h"
 #include "QEI.h"
-#include "USBSerial.h"
+/////////////////////#include "USBSerial.h"
 
 DigitalOut Ctrl_Status(LED1);
 
 QEI * Ctrl_Encoder_Motor;
 Ticker * Controler_Interrupt;
 
-DigitalOut Ctrl_Direita(PTD6);
+DigitalOut Ctrl_Direita(PTD5);//
 DigitalOut Ctrl_Esquerda(PTC1);
-PwmOut Ctrl_Motor(PTD5);
+PwmOut Ctrl_Motor(PTD6);//
 
 Ticker Ctrl_StatusOk;
 Ticker Ctrl_Trava;
@@ -30,12 +30,12 @@
     Ctrl_LerAngulos();
     
     if(Ctrl_dPhi>=0.01){
-        Ctrl_Motor = min(2*Ctrl_dPhi, 0.7);
+        Ctrl_Motor = min(2*Ctrl_dPhi, 0.3);
         Ctrl_Direita = 1;
         Ctrl_Esquerda = 0;
     }
     else if(Ctrl_dPhi<=-0.01){
-        Ctrl_Motor = min(-2*Ctrl_dPhi, 0.7);
+        Ctrl_Motor = min(-2*Ctrl_dPhi, 0.3);
         Ctrl_Direita = 0;
         Ctrl_Esquerda = 1;
     }