Diff: main.cpp

Revision:

25:df780572cfc8

Parent:

24:672abc3f02b7

Child:

26:4f84448b4d46

--- a/main.cpp	Fri Oct 06 12:34:54 2017 +0000
+++ b/main.cpp	Fri Oct 06 12:37:54 2017 +0000
@@ -62,29 +62,29 @@
     }
 
 // Initializing position and integral errors
-float posError = 0;
-float integralError = 0;
-float derivativeError = 0;
+float e_pos = 0;
+float e_int = 0;
+float e_der = 0;
 float e_prev = 0;
-float totalError = posError + integralError + derivativeError;
+float e = e_pos + e_int + e_der;
 
 // readEncoder reads counts and revs and logs results to serial window
-void getError(float &posError, float &integralError, float &derivativeError){
+void getError(float &e_pos, float &e_int, float &e_der){
     counts = Encoder.getPulses();
     double motor1Position = 2*3.14*(counts/(131*64.0f));
     pc.printf("%0.2f revolutions \r\n", motor1Position);
-    posError = getReferencePosition() - motor1Position;
-    integralError = integralError + Ts*posError;
-    derivativeError = derivativeError - e_prev;
-    totalError = posError + integralError;
-    pc.printf("Error is %0.2f \r \n", totalError);
+    e_pos = getReferencePosition() - motor1Position;
+    e_int = e_int + Ts*e_pos;
+    e_der = e_der - e_prev;
+    e = e_pos + e_int;
+    pc.printf("Error is %0.2f \r \n", e);
     }
 
 // motorController sets a motorValue based on the position error. Sign indicates direction and magnitude indicates speed. Right now this is a simple feedforward
-float motorController(float posError, float integralError){
+float motorController(float e_pos, float e_int){
     float k_p = 5*pot2.read(); // use potmeter 2 to adjust k_p within range 0 to 1
     float k_i = 0.001; // How do I pick a reasonable value for k_i?
-    double motorValue = (posError*k_p)/maxAngle + 0.35 + k_i*integralError; // motorValue is the normalized voltage applied to motor magnitude pin between -1 and 1 added 0.35 as motorvalue of 0.35 does nothing
+    double motorValue = (e_pos*k_p)/maxAngle + 0.35 + k_i*e_int; // motorValue is the normalized voltage applied to motor magnitude pin between -1 and 1 added 0.35 as motorvalue of 0.35 does nothing
     return motorValue;
     }
     
@@ -120,11 +120,11 @@
     }
     
 void measureAndControl(){
-    getError(posError, integralError);
-    float motorValue = motorController(posError, integralError);
-    pc.printf("Position error is %.2f \r \n", posError);
-    pc.printf("Total error is %.2f \r \n", totalError);
-    pc.printf("Integral error is %2f", integralError);
+    getError(e_pos, e_int);
+    float motorValue = motorController(e_pos, e_int);
+    pc.printf("Position error is %.2f \r \n", e_pos);
+    pc.printf("Total error is %.2f \r \n", e);
+    pc.printf("Integral error is %2f", e_int);
     //pc.printf("Motorvalue is %.2f \r \n", motorValue);
     //pc.printf("Motor direction is %d \r \n", motor1_direction);
     setMotor1(motorValue);