Revision 23:917179f72762, committed 2017-10-06

Comitter:

tvlogman

Date:

Fri Oct 06 12:03:26 2017 +0000

Parent:

22:2e473e9798c0

Child:

24:672abc3f02b7

Commit message:

Fixed the I-action bit: now I action is based on the position error multiplied by Ts added to the previous I error instead of the Ts multiplied by total I error.

Changed in this revision

--- a/main.cpp	Fri Oct 06 10:43:24 2017 +0000
+++ b/main.cpp	Fri Oct 06 12:03:26 2017 +0000
@@ -43,7 +43,7 @@
 
 // MOTOR CONTROL PART    
 bool m1_direction = false;
-int posRevRange = 5; // describes the ends of the position range in complete motor output shaft revolutions in both directions
+int posRevRange = 2; // describes the ends of the position range in complete motor output shaft revolutions in both directions
 const float maxAngle = 2*3.14*posRevRange; // max angle in radians
 const float Ts = 0.1;
 
@@ -73,7 +73,7 @@
     pc.printf("%0.2f revolutions \r\n", motor1Position);
     posError = getReferencePosition() - motor1Position;
     
-    integralError = integralError + Ts*totalError;
+    integralError = integralError + Ts*posError;
     totalError = posError + integralError;
     pc.printf("Error is %0.2f \r \n", totalError);
     }
@@ -81,7 +81,7 @@
 // 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 k_p = 5*pot2.read(); // use potmeter 2 to adjust k_p within range 0 to 1
-    float k_i = 0.0000000001;
+    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
     return motorValue;
     }