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 That's right 10 years and this is the first time ever that the school wanted anything to do with the FIRST team. - RoteAugen [more] |
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| That's right 10 years and this is the first time ever that the school wanted anything to do with the FIRST team. - RoteAugen [more] |
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#10
25-02-2007, 23:04
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Re: Gyro PID User drive - How we did it
one way you could improve your code is remove the floats since they are very expensive to the processor and replace them with a numerator and denominator. Then when doing your math you do everything for that portion and divide last.
ex. char Kp = 5; char kpDiv = 100; pTerm = (Kp * p_error) / KpDiv; You will lose the precision of having a floating point value in the end, but with PWM values I do not think that matters anyways also I am wondering why your errors are floats? Last edited by Render : 25-02-2007 at 23:08. |
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