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neue pid werte

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Rene Hopf
2014-11-05 17:12:52 +01:00
parent c340b165f0
commit da25d0be50
1 changed files with 7 additions and 7 deletions
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src/pid.c
+7 -7
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@@ -27,11 +27,11 @@ void pid_init(hal_pid_t *pid){
//pid->command = 0; /* pin: commanded value */
//pid->commandvds = 0; /* pin: commanded derivative dummysig */
pid->commandv = 0; /* pin: commanded derivative value */
pid->commanda = 0; /* pin: commandedv derivative value */
pid->commanda = 0; /* pin: commandedv derivative value */
//pid->feedback = 0; /* pin: feedback value */
//pid->feedbackvds = 0; /* pin: feedback derivative dummysig */
pid->feedbackv = 0; /* pin: feedback derivative value */
pid->feedbacka = 0; /* pin: feedbackv derivative value */
pid->feedbacka = 0; /* pin: feedbackv derivative value */
pid->error = 0; /* pin: command - feedback */
pid->deadband = 0; /* pin: deadband */
pid->maxerror = 0; /* pin: limit for error */
@@ -49,13 +49,13 @@ void pid_init(hal_pid_t *pid){
pid->cmd_d = 0; /* opt. pin: differentiated command */
pid->cmd_dd = 0; /* opt. pin: 2nd derivative of command */
pid->bias = 0; /* param: steady state offset */
pid->pgain = 4; /* pin: proportional gain */
pid->igain = 0.02; /* pin: integral gain */
pid->dgain = 0.01; /* pin: derivative gain */
pid->pgain = 2; /* pin: proportional gain */
pid->igain = 0.04; /* pin: integral gain */
pid->dgain = 0.015; /* pin: derivative gain */
pid->bgain = 0.0; /* pin: derivative gain */
// pid->ff0gain = 0; /* pin: feedforward proportional */
pid->ff1gain = 0.006; /* pin: feedforward derivative */
pid->ff2gain = 0.00015; /* pin: feedforward 2nd derivative */
pid->ff1gain = 0.005; /* pin: feedforward derivative */
pid->ff2gain = 0.00005; /* pin: feedforward 2nd derivative */
pid->maxoutput = 1; /* pin: limit for PID output */
pid->output = 0; /* pin: the output value */
pid->saturated = 0; /* pin: TRUE when the output is saturated */