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No more integral control

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This commit is contained in:
Johnathon Slightham
2025-07-20 18:32:04 -04:00
parent f4edc23528
commit 735ced9294
1 changed files with 4 additions and 2 deletions
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6
main/control/DCMotorActuator.cpp
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@@ -16,10 +16,12 @@
#define REV_CHANNEL LEDC_CHANNEL_1 #define REV_CHANNEL LEDC_CHANNEL_1
#define DEADZONE 0.1 #define DEADZONE 0.1
#define KP 0.07 #define KP 0.07
#define KI 0.0075 #define KI 0
#define KD 0.065 #define KD 0.065
#define MIN_PWM_DUTY 675 #define MIN_PWM_DUTY 675
#define MAX_PWM_DUTY 1024 #define MAX_PWM_DUTY 1024
#define TICKS_PER_ROTATION 14.0
#define GEAR_RATIO 298.0
DCMotorActuator::DCMotorActuator() { DCMotorActuator::DCMotorActuator() {
ledc_timer_config_t ledc_timer = { ledc_timer_config_t ledc_timer = {
@@ -107,7 +109,7 @@ void DCMotorActuator::pid_task(char* args) {
const auto that = reinterpret_cast<DCMotorActuator*>(args); const auto that = reinterpret_cast<DCMotorActuator*>(args);
while (true) { while (true) {
const double degrees = (encoder_ticks * 360.0) / (298.0 * 16); const double degrees = (encoder_ticks * 360.0) / (GEAR_RATIO * TICKS_PER_ROTATION);
const double error = degrees - that->m_target_angle; const double error = degrees - that->m_target_angle;
that->m_integral += error * KI; that->m_integral += error * KI;