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try new K matrix, also scale output

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This commit is contained in:
Thefeli73 2021-04-20 13:27:26 +02:00
parent 841050f558
commit c2061717e6
1 changed files with 6 additions and 4 deletions
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10
EENX15_LQR/lqr_fullstate.ino
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@ -6,7 +6,8 @@ float lqr_fullstate(float position_m, float speed_ms, float angle_r, float angle
// const float matrix_K [4] = {-0.1054, -0.6273, 23.5822, 3.1936}; // const float matrix_K [4] = {-0.1054, -0.6273, 23.5822, 3.1936};
// const float matrix_K [4] = {-0.1054, -0.5273, 23.5546, 3.1876}; // const float matrix_K [4] = {-0.1054, -0.5273, 23.5546, 3.1876};
// const float matrix_K [4] = {-0.1054, -0.5273, 23.5546, 3.1876}; // const float matrix_K [4] = {-0.1054, -0.5273, 23.5546, 3.1876};
const float matrix_K [4] = {-0.7071, -1.5720, 26.0726, 3.7050}; // const float matrix_K [4] = {-0.7071, -1.5720, 26.0726, 3.7050};
const float matrix_K [4] = {-0.7071, -1.5980, 26.6081, 4.3220};
float result; float result;
result = matrix_K[0] * position_m + result = matrix_K[0] * position_m +
@ -32,10 +33,11 @@ float calc_speed(float input) {
float c = 90.75; float c = 90.75;
float radps = a * pow(speed, b) + c; ////// the response graph float radps = a * pow(speed, b) + c; ////// the response graph
*/ */
float scale = 8; float scale = 1.5;
input = abs(input)*0.30796*scale; // scale down to rad/s (78,53/255) input = abs(input)*0.30796; // scale down to rad/s (78,53/255)
Serial.print("input: "); Serial.println(input);
float result = pow((3145.84/(90.75 - input)),1.00715); // break out x from response graph float result = pow((3145.84/(90.75 - input)),1.00715); // break out x from response graph
result *= scale;
Serial.print("calcspeed: "); Serial.println(result); Serial.print("calcspeed: "); Serial.println(result);
return result; return result;