Tune-aði PI stýringuna og plot-aði myndir

src/main.cpp

@@ -19,9 +19,9 @@ RotaryEncoderDriver encoder;
 
 MotorDriver motor;
 
-const double Kp = 45.0; // Ziegler-Nichols Method 45.0
-const double Ti = 0.0; // 0.226
-const double T = 0.0; // 0.004
+const double Kp = 10.125; // Ku * 0.45
+const double Ti = 0.0334; //  Tu * 0.83 37
+const double T = 0.004; // 0.004
 
 // P_controller controller(Kp);
 PI_controller controller(Kp, Ti, T);

src/operational_state.cpp

@@ -15,7 +15,7 @@ void OperationalState::enter()
     // Tíminn byrjar á 0 í hvert skipti sem farið er inn í Operational
     sample_count = 0;
 
-    Serial.println("time_ms,ref_rpm,actual_rpm,pwm");
+    Serial.println("time_ms,ref_rpm,actual_rpm");
 }
 
 // Part 1 
@@ -48,9 +48,9 @@ void OperationalState::update()
         Serial.print(",");
         Serial.print(sample.ref_rpm, 1);
         Serial.print(",");
-        Serial.print(sample.actual_rpm, 2);
-        Serial.print(",");
-        Serial.println(sample.pwm_actual, 1);
+        Serial.println(sample.actual_rpm, 2);
+        // Serial.print(",");
+        // Serial.println(sample.pwm_actual, 1);
     }
 }