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pid

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crinq
2013-12-10 19:34:57 +01:00
parent f868e503e8
commit 391e3ff1a4
1 changed files with 4 additions and 4 deletions
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src/main.c
+4 -4
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@@ -117,13 +117,13 @@ void init_pid(){
pid_p = 10.0;
pid_i = 100.0 * pid_periode;
pid_d = 0.001 / pid_periode;
pid_i_limit = 2 * pi / pole_count / 4 * 100;
pid_i_limit = maxdiff * 100;
pid_error_limit = DEG(90);
pid_output_limit = 2 * pi / pole_count / 4;
pid_output_limit = maxdiff;
// pid cur para
cur_p = 1 / (2 * pi / pole_count / 4);
cur_min = 0;
cur_p = 1 / (maxdiff);
cur_min = 0.1;
cur_max = 1;
// pid storage