Dupuis sedid / test

test

Dependencies:   Encoder_Nucleo_16_bits

Files at this revision

API Documentation at this revision

Revision 9:3480d6e6d2e3, committed 2019-06-07

Comitter:
sedid
Date:
Fri Jun 07 00:37:35 2019 +0000
Parent:
8:4553677e8b99
Commit message:
yes

Changed in this revision

PID.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 4553677e8b99 -r 3480d6e6d2e3 PID.cpp
--- a/PID.cpp	Tue Jun 05 13:33:28 2018 +0000
+++ b/PID.cpp	Fri Jun 07 00:37:35 2019 +0000
@@ -10,9 +10,9 @@
     _Rpwm.period_us(50);
     _Rpwm = 0;
 
-    _Kp = 2.0;
-    _Ki = 0.4;
-    _Kd = 1.0;
+    _Kp = 2.5;  //2.0
+    _Ki = 0.8; //0.4
+    _Kd = 0.5;  //1
 }
 
 float PID::setProportionnalValue (float KpValue)