29/10/2019
Dependencies: Encoder_Nucleo_16_bits
Diff: PID.cpp
- Revision:
- 17:a5af05cade7e
- Parent:
- 16:a8a0a1e3ddb1
diff -r a8a0a1e3ddb1 -r a5af05cade7e PID.cpp --- a/PID.cpp Tue Oct 29 16:47:10 2019 +0000 +++ b/PID.cpp Thu Oct 31 14:46:26 2019 +0000 @@ -75,8 +75,8 @@ // As we use mm/s for speed unit and we convert all mesure to this unit // Converting step to millimeters - _measDistG = ((double)PositionG - (double)oldPositionG) / 42.415; - _measDistD = ((double)PositionD - (double)oldPositionD) / 42.415; + _measDistG = ((double)PositionG - (double)oldPositionG) / 54.881; + _measDistD = ((double)PositionD - (double)oldPositionD) / 54.881; // Converting position to speed _measSpeedG = 1000.0 * _measDistG;