fafo/maasier
16
0
Fork 0
Code Issues 6 Pull requests Projects Releases Packages Wiki Activity Actions

Adjust PID, RPM math (still not correct)

Browse source
This commit is contained in:
Serge Bazanski 2026-02-28 21:01:30 +01:00
parent e897d25b09
commit 9bce7f0416
4 changed files with 18 additions and 16 deletions
Download patch file Download diff file Expand all files Collapse all files

6
spinnyboy_rust/src/bin/main.rs
View file

@ -56,7 +56,7 @@ use alloc::format;
static EMERGENCY_BUTTON: Mutex<RefCell<Option<Input>>> = Mutex::new(RefCell::new(None));
extern crate alloc;
//target RPM
const DEFAULT_TARGET_RPM: u32 = 500;
const DEFAULT_TARGET_RPM: u32 = 4000;
//in seconds
const DEFAULT_SPIN_TIME: u32 = 10;
// This creates a default app-descriptor required by the esp-idf bootloader.
@ -126,8 +126,8 @@ fn main() -> ! {
//PID-Controller
let loop_time = Duration::from_micros(10);
let cfg = pid::PidConfigBuilder::default()
.kp(2.0)
.ki(1.5).output_limits(100.00, 2040.00)
.kp(3.0)
.ki(1.0).output_limits(100.00, 2040.00)
.sample_time(loop_time)
.filter_tc(0.1)
.build()