adipu/guadaloop_lev_control
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WOrking with ramp ref

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This commit is contained in:
pulipakaa24
2026-04-17 10:37:13 -05:00
parent cef8106fd6
commit 58bc1a43d8
4 changed files with 57 additions and 20 deletions
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8
embedded/HeaveOnly/HeaveOnly.ino
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@@ -8,7 +8,7 @@
HeavePIDGains heaveGains = { 400.0f, 0.0f, 300.0f };
// ── Reference ────────────────────────────────────────────────
float avgRef = 12.2f; // Target gap height (mm)
float avgRef = 12.0f; // Target gap height (mm)
// ── Sampling ─────────────────────────────────────────────────
#define SAMPLING_RATE 200 // Hz
@@ -16,6 +16,10 @@ float avgRef = 12.2f; // Target gap height (mm)
// ── EMA filter alpha (all sensors) ───────────────────────────
#define ALPHA_VAL 0.7f
// ── Ref Ramp Step (mm per control tick) ──────────────────────
// At SAMPLING_RATE 200Hz, 0.001f = 0.2 mm/s; 0.005f = 1 mm/s.
#define RAMP_STEP_MM 0.001f
// ═══════════════════════════════════════════════════════════════
// ABOVE THIS LINE IS TUNING VALUES ONLY, BELOW IS ACTUAL CODE.
// ═══════════════════════════════════════════════════════════════
@@ -23,7 +27,7 @@ float avgRef = 12.2f; // Target gap height (mm)
unsigned long tprior;
unsigned int tDiffMicros;
HeaveController controller(indF, indB, heaveGains, avgRef);
HeaveController controller(indF, indB, heaveGains, avgRef, RAMP_STEP_MM);
const int dt_micros = 1000000 / SAMPLING_RATE;