Skad00sh / Mbed OS ES_CW2_Dev

Callum and Adel's changes on 12/02/19

Dependencies:   Crypto

Files at this revision

API Documentation at this revision

Revision 41:6e730621622b, committed 2019-03-20

Comitter:
adehadd
Date:
Wed Mar 20 14:37:39 2019 +0000
Parent:
40:9fae84f111e6
Commit message:

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Wed Mar 20 13:49:57 2019 +0000
+++ b/main.cpp	Wed Mar 20 14:37:39 2019 +0000
@@ -532,6 +532,7 @@
             //~~~Controller constants~~~~
             int32_t Kp1=22;                                     //Proportional controller constants 
             int32_t Kp2=22;                                     //Calculated by trial and error to give optimal accuracy  
+            int32_t Ki = 12;
             float   Kd=15.5;    
             
             
@@ -539,7 +540,7 @@
             int32_t Yr;                                      //Initialise controller output Yr (r=rotations)
 
             int32_t     old_pos = 0;
-            
+
             uint32_t    cur_time = 0,
                         old_time = 0,
                         time_diff;
@@ -614,9 +615,9 @@
                     else
                         torque = min(Ys, Yr);
 
-                    if(torque < 0) {                                             //Variable torque cannot be negative since it sets the PWM  
+                    if(torque < 0)                                             //Variable torque cannot be negative since it sets the PWM  
                         torque = -torque; lead = -2;                                      //Hence we make the value positive, 
-                    } else                                     //and instead set the direction to the opposite one
+                    else                                     //and instead set the direction to the opposite one
                         lead = 2;
 
                     if(torque > MAXPWM_PRD){                                        //In case the calculated PWM is higher than our maximum 50% allowance,