adipu/guadaloop_lev_control
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changed K definition to only Kp

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This commit is contained in:
Aditya Pulipaka
2025-11-20 15:21:02 -06:00
parent 1e9fcfa1af
commit f3293609f0
4 changed files with 4 additions and 4 deletions
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2
lib/Controller.cpp
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@@ -100,7 +100,7 @@ void FullController::FBControl() {
int16_t FullController::pwmFunc(K_MAP consts, Errors errs) { int16_t FullController::pwmFunc(K_MAP consts, Errors errs) {
if (oor) return 0; if (oor) return 0;
Constants constants = (errs.e < 0) ? consts.attracting : consts.repelling; Constants constants = (errs.e < 0) ? consts.attracting : consts.repelling;
return (int)constrain(constants.K*(errs.e + constants.ki*errs.eInt + constants.kd*errs.eDiff), -(float)CAP,(float)CAP); return (int)constrain(constants.kp*errs.e + constants.ki*errs.eInt + constants.kd*errs.eDiff, -(float)CAP,(float)CAP);
} }
int16_t FullController::slewLimit(int16_t target, int16_t prev) { int16_t FullController::slewLimit(int16_t target, int16_t prev) {

2
lib/Controller.hpp
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@@ -17,7 +17,7 @@
#define CAP 200 #define CAP 200
typedef struct Constants { typedef struct Constants {
float K; float kp;
float ki; float ki;
float kd; float kd;
} Constants; } Constants;

2
lib/PseudoSensorControl.cpp
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@@ -59,7 +59,7 @@ void PseudoSensorController::control() {
int16_t PseudoSensorController::pwmFunc(K_MAP consts, Errors errs) { int16_t PseudoSensorController::pwmFunc(K_MAP consts, Errors errs) {
if (oor) return 0; if (oor) return 0;
Constants constants = (errs.e < 0) ? consts.attracting : consts.repelling; Constants constants = (errs.e < 0) ? consts.attracting : consts.repelling;
return (int)constrain(constants.K*(errs.e + constants.ki*errs.eInt + constants.kd*errs.eDiff), -(float)CAP,(float)CAP); return (int)constrain(constants.kp*errs.e + constants.ki*errs.eInt + constants.kd*errs.eDiff, -(float)CAP,(float)CAP);
} }
int16_t PseudoSensorController::slewLimit(int16_t target, int16_t prev) { int16_t PseudoSensorController::slewLimit(int16_t target, int16_t prev) {

2
lib/PseudoSensorControl.hpp
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@@ -26,7 +26,7 @@ extern PinPair pinMap[4];
#define CAP 200 #define CAP 200
typedef struct Constants { typedef struct Constants {
float K; float kp;
float ki; float ki;
float kd; float kd;
} Constants; } Constants;