Revision 10:12f9371f3e0f, committed 2016-05-16

Comitter:

alfaleader

Date:

Mon May 16 09:50:44 2016 +0000

Parent:

9:2779500685cb

Commit message:

d

Changed in this revision

--- a/MPU6050.lib	Sun May 15 16:15:44 2016 +0000
+++ b/MPU6050.lib	Mon May 16 09:50:44 2016 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/users/alfaleader/code/MPU6050/#a8a0621e4732
+https://developer.mbed.org/users/alfaleader/code/MPU6050/#ae197c3fd843

--- a/PID/PID.cpp	Sun May 15 16:15:44 2016 +0000
+++ b/PID/PID.cpp	Mon May 16 09:50:44 2016 +0000
@@ -2,6 +2,7 @@
 
 PIDControll::PIDControll() { 
     //variabelen instellen als we ons PIDControll object aanmaken
+    //TODO: finetunen, andere Kp Ki Kd waarden
     Kp = 10;
     Ki = 0.0001; 
     Kd = 5;
@@ -12,6 +13,7 @@
     derivative = 0;
     errorPID = 0;  
     dir = 0;  
+    delay = 0;
 }
 
 void PIDControll::PIDaanpassing(float angle){
@@ -24,14 +26,15 @@
     (errorPID > 0)?(dir = 1):(dir = 0);
     
     // errorPID is restricted between -400 and 400 
+    //TODO: andere maximum of minimum errorPID (verhogen? verlagen?)
     if(errorPID > 400)
         errorPID = 400;
     else if(errorPID < -400)
         errorPID = -400;   
    
    stop = 0;   
+   //TODO: finetunes: mss hoger of lager
    delay = 0.1/abs(errorPID);      // speed should be proportional to error, therefore time delay
                                      //between steps should be inverse proportional to error.
-   if (abs(errorPID)< Kp/2) stop = 1;  // 0.5 deg noise margin
-         
+   if (abs(errorPID)< Kp/2) stop = 1;  // 0.5 deg noise margin    
 }
\ No newline at end of file

--- a/PID/PID.h	Sun May 15 16:15:44 2016 +0000
+++ b/PID/PID.h	Mon May 16 09:50:44 2016 +0000
@@ -20,7 +20,7 @@
     float derivative;
     float errorPID;     
     int dir;
-    int delay;  
+    float delay;  
     int stop;  
 };
 

--- a/brushlessMotor.lib	Sun May 15 16:15:44 2016 +0000
+++ b/brushlessMotor.lib	Mon May 16 09:50:44 2016 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/users/alfaleader/code/brushlessMotor/#71fb2b106f41
+https://developer.mbed.org/users/alfaleader/code/brushlessMotor/#027fe6d9a8a7

--- a/main.cpp	Sun May 15 16:15:44 2016 +0000
+++ b/main.cpp	Mon May 16 09:50:44 2016 +0000
@@ -31,12 +31,14 @@
     pc.printf("Calibratie compleet \r\n"); 
     mpu6050.init();                              // Initializeer de gyroscoop
     pc.printf("MPU6050 is klaar \r\n\r\n");
-   
+
     updatePID.attach(&updatePIDfunctie, 0.005);       // Elke 5ms onze complementary Filter aanroepen
     
     while(1)
     {          
-       pc.printf("Roll: %.1f, Pitch: %.1f\r\n",rollAngle,pitchAngle); //DEBUG
+       pc.printf("Roll: %.1f, Pitch: %.1f\r\n",rollAngle, pitchAngle); //DEBUG
+       pc.printf("pitch: dir: %d, delay: %f\r\n",pitchMotorPID.dir, pitchMotorPID.delay); //DEBUG
+       pc.printf("roll: dir: %d, delay: %f\r\n",rollMotorPID.dir, rollMotorPID.delay); //DEBUG
        wait_ms(500); //500ms wachten
     }    
 }
@@ -50,22 +52,24 @@
     rollMotorPID.PIDaanpassing(rollAngle);
     
     //pitch aanpassingen nodig?
-    if(pitchMotorPID.stop)  // if the gimbal is within noise margin, dont move.
+    if(pitchMotorPID.stop){  // if the gimbal is within noise margin, dont move.
         pitchMotorTicker.detach();
-    else    
+    }else{
         pitchMotorTicker.attach(&pitchMotorFunction, pitchMotorPID.delay);  
+    }
     
     //roll motor aanpassingen nodig?
-    if(rollMotorPID.stop)  // if the gimbal is within noise margin, dont move.
+    if(rollMotorPID.stop){  // if the gimbal is within noise margin, dont move.
         rollMotorTicker.detach();
-    else    
-        rollMotorTicker.attach(&rollMotorFunction, rollMotorPID.delay);  
+    } else { 
+        rollMotorTicker.attach(&rollMotorFunction, rollMotorPID.delay); 
+    } 
 
 }
 
 
 void pitchMotorFunction(){
-    pitchMotor.brushlessControl(rollMotorPID.dir, 0);    
+    pitchMotor.brushlessControl(pitchMotorPID.dir, 0);    
 }
 
 void rollMotorFunction(){