motorcontroller.c File Reference

#include <avr/io.h>
#include "motorcontroller.h"
#include "timer.h"

Functions
void	setPortD (void)
	Set portD as output.
void	setMotorSpeed (double uTotal)
	Sets the speed and direction of the motor.
double	setError (double presentValue)
	Calculate the error.
double	pController (void)
	Proportional controller.
double	dController (void)
	Derrivative controller.
Variables
double	oldError = 0
double	error = 0
double	timeGap = 0
const int	KP = 250
const int	KD = 20

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Function Documentation

double dController

(

void

)

Derrivative controller.

Returns:

The derrivative value

double pController

(

void

)

Proportional controller.

Returns:

The proportional value

double setError

(

double

presentValue

)

Calculate the error.

Parameters:

presentValue

Frequency to determine the error from

Returns:

The current error

void setMotorSpeed

(

double

uTotal

)

Sets the speed and direction of the motor.

Parameters:

uTotal

Value calculated by the PD-controller

void setPortD

(

void

)

Set portD as output.

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Variable Documentation

double error = 0

const int KD = 20

const int KP = 250

double oldError = 0

double timeGap = 0

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