geoffrey/cdf2018-principal
geoffrey/cdf2018-principal
1
0
Fork 0
mirror of https://github.com/RobotechLille/cdf2018-principal synced 2025-09-04 01:05:56 +02:00
Code Issues Releases Wiki Activity

WIP Contrôle

Browse source
This commit is contained in:
Geoffrey Frogeye 2018-05-09 14:24:12 +02:00
parent 8813455901
commit 1337bd62a9
9 changed files with 78 additions and 90 deletions
Download patch file Download diff file Expand all files Collapse all files

19
simu/simu.m
View file

@ -3,7 +3,7 @@ SIMULATION = 0;
% Paramètres de lecture
DIRNAME = "/home/geoffrey/CdF/cdf2018-principal/log/";
FILENAME = "000303.csv";
FILENAME = "000471.csv";
PATH = DIRNAME + FILENAME;
% Paramètres de simulation
@ -45,15 +45,14 @@ coderFullResolution = (coderDataResolution / reducRatio); % cycles / wheel rev
avPerCycle = (wheelPerimeter / coderFullResolution); % mm
% Constantes asservissement
global dDirEcartMin dDirEcartMax oDirEcartMin oDirEcartMax oGain dConsThresold oConsThresold;
dDirEcartMin = 1.0; % mm
dDirEcartMax = 5.0; % mm
oDirEcartMin = (6.0 / 360.0 * 2.0 * pi); % rad
oDirEcartMax = (45.0 / 360.0 * 2.0 * pi); % rad
dConsThresold = 1.0; % mm
oConsThresold = (6.0 / 360.0 * 2.0 * pi); % rad
global dDirEcartMin dDirEcartMax oDirEcartMin oDirEcartMax oGain oEcartMax;
dDirEcartMin = 7.0; % mm
dDirEcartMax = 10.0; % mm
oDirEcartMin = (5.0 / 360.0 * 2.0 * pi); % rad
oDirEcartMax = (25.0 / 360.0 * 2.0 * pi); % rad
oEcartMax = (25.0 / 360.0 * 2.0 * pi); % rad
oGain = 3.0;
P = 3.0;
P = 7.0;
I = 0.0;
D = 0.0;
@ -195,7 +194,7 @@ function timeGraph(series)
end
xlim([0 SIMULATION_TIME]);
if (abs(m) ~= inf) && (abs(M) ~= inf)
ylim([m M]);
ylim([m M+1E-9]);
end
addTimeline(p);
end