From 65aa92dfa505b13c16bb97c57e74ad8449027fcc Mon Sep 17 00:00:00 2001
From: Quirin Apfel <quirin.apfel@fau.de>
Date: Thu, 2 Aug 2018 16:05:01 +0200
Subject: [PATCH] regler mit schwellen
---
HalloRobot/libProject/src/control.c | 26 +++++++++++++++++---------
1 file changed, 17 insertions(+), 9 deletions(-)
diff --git a/HalloRobot/libProject/src/control.c b/HalloRobot/libProject/src/control.c
index fd2d1af..c37b1ee 100644
--- a/HalloRobot/libProject/src/control.c
+++ b/HalloRobot/libProject/src/control.c
@@ -68,22 +68,30 @@ float pi_control(float e)
*/
float pid_control(float e)
{
- float K = 0.8f;
+ float K = 0.4f;
const float T_i = 0.1f;//0.18
- const float T_d = 0.05;
-
- if(e > 2 || e < -2){
- K = 5.0;
+ const float T_d = 0.025;
+ float ee = e;
+
+ if(e > 10.0 || e < -10.0){
+ //K = 2.4;
+ ee = e*e*e;
+ /*if(e<0){
+ ee = -ee;
+ }*/
+ }
+
+ if(e > 1.5 || e < -1.5){
+ K = 100.0;
}
-
static float e_old = 0;
-
+ /*
float ee = e*e;
if(e<0){
ee = -ee;
}
-
- sum_error += ee/F_CONTROL;
+ */
+ sum_error += e/F_CONTROL;
float derivative = (e - e_old)*F_CONTROL;
--
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