Alpesh Bhudia / Mbed 2 deprecated EquatorStrutDigitalMonitor

Merged to branch

Dependencies:   USBDevice mbed EquatorStrutController LightWeightSerialTransmit

Fork of EquatorStrutDigitalMonitor by Stewart Coulden-Smith

Files at this revision

API Documentation at this revision

Revision 14:67466da6663d, committed 2014-08-13

Comitter:
alpesh
Date:
Wed Aug 13 08:36:07 2014 +0000
Parent:
13:18c376e5dc9a
Child:
16:47d761226df6
Commit message:
Implemented 2 PID (Position and Speed)

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Wed Aug 13 08:31:24 2014 +0000
+++ b/main.cpp	Wed Aug 13 08:36:07 2014 +0000
@@ -353,7 +353,7 @@
 
 int PreviousTime = 0;
 
-double vMax = 60;
+double vMax = 20;
 
 void Controller ()
 {
@@ -377,7 +377,6 @@
         PosProError = PosError * PosKpGain;
 
         PosDifError = (PosError - PosPreviousError[errorcounter]) / timeStep;           
-
         
         PosiState += PosError;
         
@@ -393,7 +392,6 @@
         
         TargetVelocity = (PosKpGain * PosError + PosKdGain * PosDifError + PosIntError);
         
-    
     ///////////////////////////////////////////////////////////////////////////////////////////////
     //Velocity PID
     ///////////////////////////////////////////////////////////////////////////////////////////////     
@@ -452,8 +450,6 @@
         VelPreviousError[errorcounter] = VelError;
    // }
         
-    
-  
 }
 
 int main()