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Updated PID values with Ziegler/Nichols

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id101010
2015-06-08 11:10:26 +02:00
parent 72dc291e4d
commit f18a936129
1 changed files with 5 additions and 4 deletions
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9
common/app/pixy_control.c
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@@ -16,10 +16,11 @@
#include<stdint.h> #include<stdint.h>
// PID tuning factors // PID tuning factors
#define REG_PID_KP (0.5f) #define REG_PID_KP (0.41f)
#define REG_PID_KI (0.001f) #define REG_PID_KI (0.001f)
#define REG_PID_KD (0.001f) #define REG_PID_KD (0.00025f)
#define REG_PID_TA (0.01f) #define REG_PID_TA (0.001f)
#define REG_PID_YKOR (0.3f)
void int_init(void){ void int_init(void){
// TODO Init ports and outputs if needed. // TODO Init ports and outputs if needed.
@@ -38,7 +39,7 @@ int16_t pixy_PID_Y(int16_t x, int16_t w)
//----PID-control------------------------------------------------------------------------- //----PID-control-------------------------------------------------------------------------
esum = esum + e; // add e to the current sum 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_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 y += REG_PID_KD * (e - eold) / REG_PID_TA; // add the differential part to the output
//---------------------------------------------------------------------------------------- //----------------------------------------------------------------------------------------