Commit 65aa92df authored by Quirin Apfel's avatar Quirin Apfel
Browse files

regler mit schwellen

parent 596b23bc
...@@ -68,22 +68,30 @@ float pi_control(float e) ...@@ -68,22 +68,30 @@ float pi_control(float e)
*/ */
float pid_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_i = 0.1f;//0.18
const float T_d = 0.05; const float T_d = 0.025;
float ee = e;
if(e > 2 || e < -2){
K = 5.0; 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; static float e_old = 0;
/*
float ee = e*e; float ee = e*e;
if(e<0){ if(e<0){
ee = -ee; ee = -ee;
} }
*/
sum_error += ee/F_CONTROL; sum_error += e/F_CONTROL;
float derivative = (e - e_old)*F_CONTROL; float derivative = (e - e_old)*F_CONTROL;
......
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