#define PID_P 0.3
-#define PID_P_S 0.9 /*2.3 kmita*/ /*1.4 vhodne jen pro P regulator*/
+#define PID_P_S 0.8 /*2.3 kmita*/ /*1.4 vhodne jen pro P regulator*/
#define PID_I_S 0.01
#define PRIOR_KERN 50
rps.logs[0][rps.log_col]=(int)rps.tf_count;
rps.logs[1][rps.log_col]=(int)rps.spi_dat->pozice;
- rps.log_col++;
+ rps.logs[2][rps.log_col]=(int)rps.pwm1;
+ rps.logs[3][rps.log_col]=(int)rps.pwm2;
+ rps.logs[4][rps.log_col]=(int)rps.pwm3;
+ rps.logs[5][rps.log_col]=rps.duty;
+
+ rps.logs[6][rps.log_col]=rps.desired_spd;
+ rps.logs[7][rps.log_col]=rps.speed;
+ rps.logs[8][rps.log_col]=(int)(rps.spi_dat->ch1/rps.spi_dat->adc_m_count);
+ rps.logs[9][rps.log_col]=(int)(rps.spi_dat->ch2/rps.spi_dat->adc_m_count);
+ rps.logs[10][rps.log_col]=(int)(rps.spi_dat->ch0/rps.spi_dat->adc_m_count);
+
+ rps.log_col++;
+ /*
if (rps.log_col==rps.log_col_count-1){
rps.log_col_count*=2;
rps.log_col_count%=MAX_LOGS;
for (r=0;r<LOG_ROWS;r++){
rps.logs[r]=realloc(rps.logs[r],rps.log_col_count*sizeof(int));
+ if (rps.logs[r]==NULL){
+ rps.doLogs=0;
+ rps.error=1;
+ }
}
}
+ */
}
/*