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This commit is contained in:
Thefeli73
2021-04-14 02:57:38 +02:00
parent c961669895
commit 7f69d89510
1 changed files with 3 additions and 1 deletions
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4
EENX15_LQR/EENX15_LQR.ino
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@@ -119,8 +119,9 @@ void loop() {
printInfo(); printInfo();
} }
} }
void getSpeed() { void getSpeed() {
float alpha = 2.0 / (5.0 + 1.0); //alfa aka EMA length. 3 length = 3*80ms=0.24s float alpha = 2.0 / (3.0 + 1.0); //Alpha aka EMA length. 3 length = 3*80ms=0.24s
float rpm_const = 1071.43/fastTimer; //60000ms(1min) / ticks per rotation / fasttimer float rpm_const = 1071.43/fastTimer; //60000ms(1min) / ticks per rotation / fasttimer
float rps_const = 112.23/fastTimer; //1000ms(1s) / ticks per rotation / fasttimer float rps_const = 112.23/fastTimer; //1000ms(1s) / ticks per rotation / fasttimer
@@ -131,6 +132,7 @@ void getSpeed() {
rps = rps * (1-alpha) + rps_new * alpha; rps = rps * (1-alpha) + rps_new * alpha;
countAold = countA; countAold = countA;
} }
void printInfo(){ void printInfo(){
Serial.println(""); Serial.println("");
Serial.print("pitch Angle = "); Serial.println(angle_pitch_output); Serial.print("pitch Angle = "); Serial.println(angle_pitch_output);