From 391e3ff1a46bba20eb73bcbca426cfe024e0ad9d Mon Sep 17 00:00:00 2001 From: crinq Date: Tue, 10 Dec 2013 19:34:57 +0100 Subject: [PATCH] pid --- src/main.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main.c b/src/main.c index f09fa047..abc2cd10 100644 --- a/src/main.c +++ b/src/main.c @@ -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