aaron/discoverpixy
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Merge remote-tracking branch 'origin/dev_aaron'

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t-moe
2015-06-08 11:21:11 +02:00
parent a92c48bc2c f18a936129
commit 795109518d
1 changed files with 5 additions and 4 deletions
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9
common/app/pixy_control.c
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@@ -34,10 +34,11 @@
#include<stdint.h>
// PID tuning factors
#define REG_PID_KP (0.5f)
#define REG_PID_KP (0.41f)
#define REG_PID_KI (0.001f)
#define REG_PID_KD (0.001f)
#define REG_PID_TA (0.01f)
#define REG_PID_KD (0.00025f)
#define REG_PID_TA (0.001f)
#define REG_PID_YKOR (0.3f)
// PID controller implementatoin for the y-axis
@@ -53,7 +54,7 @@ int16_t pixy_PID_Y(int16_t x, int16_t w)
//----PID-control-------------------------------------------------------------------------
esum = esum + e; // add e to the current sum
y += REG_PID_KP * e; // add the proportional part to the output
y += (REG_PID_KP + REG_PID_YKOR) * e; // add the proportional part to the output
y += REG_PID_KI * REG_PID_TA * esum; // add the integral part to the output
y += REG_PID_KD * (e - eold) / REG_PID_TA; // add the differential part to the output
//----------------------------------------------------------------------------------------