- added stirrer

- many other improvements git-svn-id: http://moon:8086/svn/projects/HendiControl@116 fda53097-d464-4ada-af97-ba876c37ca34
2019-03-21 17:55:37 +00:00
parent 75b920047a
commit 08d8c32106
10 changed files with 213 additions and 71 deletions
@@ -37,23 +37,29 @@
 			},
 			"Track": {
 				"Pid" : {
-					"kp"	: 8,
-					"ki"	: 0.03,
-					"kd"	: 8,
+					"kp"	: 1,
+					"ki"	: 0.2,
+					"kd"	: 4,
 					"rho"	: 0.999
 				}
 			}
 		}
 	},

-	"Simulation" :
+	"WaterSim" :
 	{
+		"dt"			: 1.0,
 		"theta_amb"		: 20,
 		"C"				: 4190,
 		"M"				: 20,
 		"L"				: 0.3,
 		"Td"			: 10,
 		"kn"			: 0
+	},
+
+	"Stirrer" :
+	{
+		"dt"			: 1.0
 	}
 }