int speedControlInit(void)
{
encoder_pid_instance.Kp = 400;
encoder_pid_instance.Ki = 0;
encoder_pid_instance.Kd = 1800;
speed_control.current_distance = 0;
speed_control.gap_distance_per_loop = 0;
speed_control.current_distance_consign = 0;
speed_control.old_distance = 0;
speed_control.current_speed = 0;
speed_control.end_control = 0;
speed_control.speed_error = 0;
speed_control.speed_command = 0;
speed_control.speed_consign = 0;
speed_params.initial_speed = 0;
speed_control.speed_pid.instance = &encoder_pid_instance;
pidControllerInit(speed_control.speed_pid.instance);
encoderResetDistance(&left_encoder);
encoderResetDistance(&right_encoder);
return SPEED_CONTROL_E_SUCCESS;
}
int lineFollowControlInit(void)
{
line_follow_pid_instance.Kp = 151 + _KP;
line_follow_pid_instance.Ki = 0;
line_follow_pid_instance.Kd = 6000; //810
line_follow_control.line_follow_pid.instance = &line_follow_pid_instance;
line_follow_control.succes = FALSE;
pidControllerInit(line_follow_control.line_follow_pid.instance);
return LINE_FOLLOW_CONTROL_E_SUCCESS;
}
int speedControlInit(void)
{
memset(&speed_control, 0, sizeof(speed_control_struct));
memset(&speed_params, 0, sizeof(speed_params_struct));
speedProfileCompute(0, 0, 0, 0);
encoder_pid_instance.Kp = 700;//638.00;
encoder_pid_instance.Ki = 0;//0.02666 / CONTROL_TIME_FREQ;
encoder_pid_instance.Kd = 2 * CONTROL_TIME_FREQ;
speed_control.speed_pid.instance = &encoder_pid_instance;
pidControllerInit(speed_control.speed_pid.instance);
return SPEED_CONTROL_E_SUCCESS;
}
