From 3a88aac74a89603ab80bc5a1f9e3a000be660ae8 Mon Sep 17 00:00:00 2001
From: jenoack <jenoack@ELE-maker7.linuxmuster.lan>
Date: Fri, 17 Mar 2023 09:27:57 +0100
Subject: [PATCH]  updated params and speed settings

---
 vscode/Unendlichkeitsmaschine/include/main.hpp |  8 ++++----
 vscode/Unendlichkeitsmaschine/src/main.cpp     | 16 +++++++++++-----
 2 files changed, 15 insertions(+), 9 deletions(-)

diff --git a/vscode/Unendlichkeitsmaschine/include/main.hpp b/vscode/Unendlichkeitsmaschine/include/main.hpp
index 07bfb9f..90d96aa 100644
--- a/vscode/Unendlichkeitsmaschine/include/main.hpp
+++ b/vscode/Unendlichkeitsmaschine/include/main.hpp
@@ -100,10 +100,10 @@ const uint8_t HALL6_PIN = 26;
 const uint8_t HALL7_PIN = 27;
 const uint8_t HALL8_PIN = 14;
 
-const uint16_t MIN_SPEED = 600;
-const uint16_t MAX_SPEED = 1200;
-const uint8_t MAX_ESC_SPEED = 60;
-const uint8_t MIN_ESC_SPEED = 37;
+const uint16_t MIN_SPEED = 500;
+const uint16_t MAX_SPEED = 3000;
+const uint8_t MAX_ESC_SPEED = 100;
+const uint8_t MIN_ESC_SPEED = 36;
 const uint16_t MAX_POTI_VALUE = 4095;
 const uint16_t JITTER_POTI_PERCENT = 10;
 
diff --git a/vscode/Unendlichkeitsmaschine/src/main.cpp b/vscode/Unendlichkeitsmaschine/src/main.cpp
index ccb3f68..12bfcda 100644
--- a/vscode/Unendlichkeitsmaschine/src/main.cpp
+++ b/vscode/Unendlichkeitsmaschine/src/main.cpp
@@ -19,9 +19,11 @@ volatile double goal_speed = 0;
 volatile double current_speed = 0;
 volatile double err = 0;
 volatile double output = 0.0;
-double kp = 0.005;
-double ki = 0.0008;
-double kd = 0.0001;
+double kp = 1;//0.005;
+double ki = 1000;//0.0008;
+double kd = 5;//0.0001;
+
+//bei 2000 als speed:  values: kp=0.020000 ki=0.005000 kd=0.000100
 
 void ISR_HALL1();
 void ISR_HALL2();
@@ -320,15 +322,19 @@ void get_serial_cmd()
             ki = command.substring(command.indexOf("=")+1).toDouble();
             Serial.printf("Set ki to %f\n", ki);
         }
-
         else if(command.startsWith("speed=")){
             ser_speed = command.substring(command.indexOf("=")+1).toDouble();
-            Serial.printf("Set speed to %f\n", speed);
+            Serial.printf("Set speed to %f\n", ser_speed);
         }
         else if(command.startsWith("kd=")){
             kd = command.substring(command.indexOf("=")+1).toDouble();
             Serial.printf("Set kd to %f\n", kd);
         }
+        else if(command.startsWith("esc=")){
+            ser_esc_output = command.substring(command.indexOf("=")+1).toDouble();
+            Serial.printf("Set esc_output to %f\n", ser_esc_output);
+        }
+
         else if(command.equals("params")){
             Serial.printf("Actual values: kp=%f  ki=%f  kd=%f  \n", kp, ki, kd);
         }