Kristian Lauszus / Mbed 2 deprecated BalancingRobotPS3

Code for my balancing robot, controlled with a PS3 controller via bluetooth

Dependencies:   mbed

Files at this revision

API Documentation at this revision

Revision 5:fc6c7a059759, committed 2012-03-04

Comitter:
Lauszus
Date:
Sun Mar 04 02:11:58 2012 +0000
Parent:
4:0b4c320bc948
Child:
6:defe36ce2346
Commit message:

Changed in this revision

BalancingRobot.cpp Show annotated file Show diff for this revision Revisions of this file
BalancingRobot.h Show annotated file Show diff for this revision Revisions of this file 
--- a/BalancingRobot.cpp	Fri Mar 02 09:06:47 2012 +0000
+++ b/BalancingRobot.cpp	Sun Mar 04 02:11:58 2012 +0000
@@ -87,7 +87,7 @@
         if (loopCounter == 100) {
             loopCounter = 0; // Reset loop counter
             double analogVoltage = batteryVoltage.read()/1*3.3; // Convert to voltage
-            analogVoltage *= 6.6 // The analog pin is connected to a 56k-10k voltage divider
+            analogVoltage *= 6.6; // The analog pin is connected to a 56k-10k voltage divider
             xbee.printf("analogVoltage: %f - timer: %i\n",analogVoltage,t.read_ms());
             if (analogVoltage < 7.92 && pitch > 60 && pitch < 120) // Set buzzer on, if voltage gets critical low
                 buzzer = 1; // The mbed resets at aproximatly 1V           

--- a/BalancingRobot.h	Fri Mar 02 09:06:47 2012 +0000
+++ b/BalancingRobot.h	Sun Mar 04 02:11:58 2012 +0000
@@ -45,9 +45,9 @@
 double pitch;
 
 /* PID variables */
-double Kp = 11;
-double Ki = 2;
-double Kd = 12;
+double Kp = 8; //11 - 7
+double Ki = 2; //2
+double Kd = 9; //12
 double targetAngle = 90;
 
 double lastError;
@@ -91,13 +91,13 @@
 long lastWheelPosition;
 long wheelVelocity;
 long targetPosition;
-int zoneA = 2000;
-int zoneB = 1000;
+int zoneA = 4000; // 2000
+int zoneB = 2000; // 1000
 double positionScaleA = 250; // one resolution is 464 pulses
 double positionScaleB = 500; 
 double positionScaleC = 1000;
 double velocityScaleMove = 40;
-double velocityScaleStop = 40;//30
+double velocityScaleStop = 30;//30 - 40 - 60
 
 void calibrateSensors();
 void PID(double restAngle, double offset);