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Dependencies: FastPWM HIDScope MODSERIAL QEI Matrix biquadFilter controller errorFetch mbed motorConfig refGen MatrixMath inverseKinematics
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Minor_test_serial
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Revision 36:f3f3327d1d5a, committed 2017-10-22
- Comitter:
- tvlogman
- Date:
- Sun Oct 22 08:39:28 2017 +0000
- Parent:
- 35:99bf23b34ee3
- Child:
- 37:633dd1901681
- Commit message:
- Works, but needs a calibration for the filtering to subtract mean offset and normalize to maximum contraction.
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Sun Oct 22 08:07:06 2017 +0000
+++ b/main.cpp Sun Oct 22 08:39:28 2017 +0000
@@ -20,8 +20,8 @@
biquadFilter HPbq2(1.0000, -2.0000, 1.0000, 1.0000, -1.9903, 0.9904);
biquadChain HPbqc(HPbq1, HPbq2);
// low pass
-biquadFilter LPbq1(1.0e-6*0.1202, 1.0e-6*0.2405, 1.0e-6*0.1202, 1.0000, -1.9313, 0.9327);
-biquadFilter LPbq2(1.0000, 2.0000, 1.0000, 1.0000, -1.9702, 0.9716);
+biquadFilter LPbq1(1.0e-5*1.3294, 1.0e-5*2.6587, 1.0e-5*1.3294, 1.0000, -1.7783, 0.7924);
+biquadFilter LPbq2(1.0000, 2.0000, 1.0000, 1.0000, -1.8934, 0.9085);
biquadChain LPbqc(LPbq1, LPbq2);
// Controller parameters
@@ -107,6 +107,7 @@
m2counts = Encoder2.getPulses();
float r1 = ref1.getReference();
r1 = HPbqc.applyFilter(r1);
+ r1 = fabs(r1);
r1 = LPbqc.applyFilter(r1);
e1.fetchError(m1counts, r1);
float motorValue = motorController1.control(e1.e_pos, e1.e_int, e1.e_der);