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Two-Wheel-Self-Balancing-Robot-v2
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myController -> pitchCtrl

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EmaMaker 2024-04-02 21:56:45 +02:00
parent c5be98dd57
commit 9debfe47c1
1 changed files with 7 additions and 7 deletions
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14
selfbalance-madgwick/selfbalance-madgwick.ino
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@ -1,6 +1,6 @@
#include <ArduPID.h> #include <ArduPID.h>
ArduPID myController; ArduPID pitchCtrl;
#define MOT_DX_STEP 19 #define MOT_DX_STEP 19
#define MOT_DX_DIR 18 #define MOT_DX_DIR 18
@ -53,11 +53,11 @@ void setup() {
update_imu(); update_imu();
} }
myController.begin(&input, &output, &setpoint, KP, KI, KD, P_ON_E, FORWARD); pitchCtrl.begin(&input, &output, &setpoint, KP, KI, KD, P_ON_E, FORWARD);
myController.setOutputLimits(-MAX_VELOCITY, MAX_VELOCITY); // double of max torque motors can exhert pitchCtrl.setOutputLimits(-MAX_VELOCITY, MAX_VELOCITY); // double of max torque motors can exhert
//myController.setWindUpLimits(-10, 10); //pitchCtrl.setWindUpLimits(-10, 10);
myController.setSampleTime(2); pitchCtrl.setSampleTime(1);
myController.start(); pitchCtrl.start();
} }
void setup1(){ void setup1(){
@ -97,7 +97,7 @@ void loop() {
update_imu(); update_imu();
// I also modified the ArduPID library to use compute as a boolean. If calculations were done, it returns true. If not enough time has elapsed, it returns false // I also modified the ArduPID library to use compute as a boolean. If calculations were done, it returns true. If not enough time has elapsed, it returns false
if(myController.compute()){ if(pitchCtrl.compute()){
input = pitch; input = pitch;
// Keeping it here // Keeping it here