change pid values to be faster
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@ -94,8 +94,8 @@ uint8_t motorspeed=0;
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#define DEADZONE_POTI 10 //maximum allowed error. stop when reached this zone
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#define POT_MIN 45 //minimum value pot can reach
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#define POT_MAX 950 //maximum value pot can reach
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#define POTIFILTER 0.8 //0 to 1. 1 means old value stays forever
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#define MAX_MOTOR_PWM 192 //0 to 255. Maximum pwm to output
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#define POTIFILTER 0.6 //0 to 1. 1 means old value stays forever
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#define MAX_MOTOR_PWM 255 //0 to 255. Maximum pwm to output
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int poti_set; //set value, initial value will be read from poti
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int poti_read=0; //read value from poti
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@ -122,14 +122,14 @@ long last_motorcheck=0;
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//#define MOTOR_FAILTIME 500 //in ms. if motor did not turn fox x amount of time at least with MINIMUM_MOTORVEL an error will initiate
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//long last_motorTooSlow=0; //typically 0
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float motorP=2.0;
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float motorI=0.1;
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float motorP=4.0;
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float motorI=0.5;
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float potidifference_integral=0;
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#define MOTORI_ANTIWINDUP 90 //maximum value for (potidifference_integral*motorI). time depends on INTERVAL_MOTORCHECK
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#define MOTORI_ANTIWINDUP 200 //maximum value for (potidifference_integral*motorI). time depends on INTERVAL_MOTORCHECK
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//Motor starts moving at about speed=80
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long last_potidifferenceLow=0;
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#define DEADZONETIMEUNTILREACHED 500 //time [ms] poti read value has to be inside of deadzone to set reachedposition flag (and stop regulating)
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#define DEADZONETIMEUNTILREACHED 250 //time [ms] poti read value has to be inside of deadzone to set reachedposition flag (and stop regulating)
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//error
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boolean motorerror=false;
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