Revision 19:a6369257c00f, committed 2014-08-14

Comitter:

alpesh

Date:

Thu Aug 14 14:46:31 2014 +0000

Parent:

18:ab282713f4a7

Child:

20:04432d03b46c

Child:

21:b4eb253d3dbb

Commit message:

PID for Position Control only

Changed in this revision

--- a/main.cpp	Thu Aug 14 14:23:56 2014 +0000
+++ b/main.cpp	Thu Aug 14 14:46:31 2014 +0000
@@ -145,7 +145,7 @@
 }
 
 double PosError = 0;    //This has been defined here as it's being used in the serial transmit function
-double VelError = 0;
+//double VelError = 0;
 
 void SerialOut(double outputValue)
 {
@@ -225,9 +225,9 @@
 double PosKiGain = 0.0;
 double PosKdGain = 0.0;
 
-double VelKpGain = 0.01;
-double VelKiGain = 0.0;
-double VelKdGain = 0.0;
+//double VelKpGain = 0.01;
+//double VelKiGain = 0.0;
+//double VelKdGain = 0.0;
 
 void SerialTransmit()
 {    
@@ -255,7 +255,7 @@
     
     pc.putc('\t');
     
-    SerialOut(VelKpGain);
+ //   SerialOut(VelKpGain);
     
     //pc.putc('\t');
     
@@ -334,13 +334,13 @@
 double PosIntError;
 double PosDifError;
 
-double VelProError;
-double VelIntError;
-double VelDifError;
+//double VelProError;
+//double VelIntError;
+//double VelDifError;
 
 int errorcounter;
 double PosPreviousError [10];
-double VelPreviousError [10];
+//double VelPreviousError [10];
 
 double PwmChange=0;
 
@@ -349,7 +349,7 @@
 double TargetVelocity;
 
 double PosiState;
-double VeliState;
+//double VeliState;
 
 int PreviousTime = 0;
 
@@ -369,8 +369,8 @@
         int timeStep = RunningTime.read_us() - PreviousTime;
         PreviousTime = RunningTime.read_us();
         
-        double integral_velmax = vMax/VelKiGain;
-        double integral_velmin = -vMax/VelKiGain ;
+        double integral_velmax = vMax/PosKiGain;
+        double integral_velmin = -vMax/PosKiGain ;
            
         PosError = SetPoint - (position * 0.01);
 
@@ -390,12 +390,15 @@
         }
         PosIntError = PosKiGain * PosiState;
         
-        TargetVelocity = (PosKpGain * PosError + PosKdGain * PosDifError + PosIntError);
+        TargetPwm = (PosKpGain * PosError + PosKdGain * PosDifError + PosIntError);
+        
+   
+   //     TargetVelocity = (PosKpGain * PosError + PosKdGain * PosDifError + PosIntError);
         
     ///////////////////////////////////////////////////////////////////////////////////////////////
     //Velocity PID
     ///////////////////////////////////////////////////////////////////////////////////////////////     
-       
+     /*  
        double integral_pwmmax = 1.0/VelKiGain;
        double integral_pwmmin = -1.0/VelKiGain;
        
@@ -421,6 +424,8 @@
         VelIntError = VelKiGain * VeliState;
         
         TargetPwm = (VelKpGain * VelError + VelKdGain * VelDifError + VelIntError);
+        */
+    
     
         if (TargetPwm > 1.0) 
         {
@@ -447,7 +452,7 @@
         }
 
         PosPreviousError[errorcounter] = PosError;
-        VelPreviousError[errorcounter] = VelError;
+ //       VelPreviousError[errorcounter] = VelError;
    // }
         
 }
@@ -487,10 +492,10 @@
             //pow += 0.05;
             PosKpGain += 1.0;
             
-            VelKpGain = 0.003;
-            while (VelKpGain < 0.008)
-            {
-                VelKpGain += 0.001;
+          //  VelKpGain = 0.003;
+          //  while (VelKpGain < 0.008)
+          //  {
+          //      VelKpGain += 0.001;
                                 
                 float iterationStart = RunningTime.read();
                 
@@ -502,7 +507,7 @@
                 }
                 
                 Home();
-            }
+          //  }
         }
         
         Disable();