JFDuval said:
It appears to be the accent on the 'e' which stops it being found, presumably some language setting in Windows?.
Try **broken link removed** which works.
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JFDuval said:
MrMikey83 said:
while(1)
{
//delay_ms(45);
//Look for user input
check_for_button();
//Find tilt magnitude
//===================================================================
tilt_value = read_tilt();
tilt_angle = tilt_center - tilt_value;
//===================================================================
//Find gyro magnitude
//===================================================================
gyro_value = read_gyro();
gyro_amount = gyro_center - gyro_value;
//===================================================================
tilt_correction = tilt_angle * tilt_fudge;
gyro_correction = gyro_amount * gyro_fudge;
new_correction = tilt_correction + gyro_correction;
new_correction = new_correction * new_fudge;
//motor_correction = motor_correction + new_correction; //Integrate over time
motor_correction = new_correction; //
//if (abs(tilt_angle) <= 1) {putc('!'); motor_correction = 0;}
/*
printfloat("T=%f ", tilt_correction);
printfloat("G=%f ", gyro_correction);
printfloat("C=%f ", motor_correction);
*/
set_motors(motor_correction);
}You NEVER want to use floating point values in time critical code of an 8 bit system. Floating point computations are really, really slow on an 8 bit system. A single floating point multiply will take several THOUSAND instructions compared to tens for a 16 bit integer multiply. I have a feeling your control loop is running a lot slower than you think. If you need fractional values use Fixed point numbers which can be implemented using standard integer math.
It's the derivative term that is the damping term - make sure you have the sign right so it's damping (it should be in the opposite direction of the P term). The integral term is only to cancel out constant forces in steady state. The rest of the time it make a controller worse.
This means your P term is too big. If you can't make P low enough and still use integer values just add a constant divisor to the control output (this effectivly make your values like a truncated fixed point). You can also add something called "dead band" this is where you ignore differences lower than a couple ticks.
