diff --git a/src/serial_out.txt b/src/serial_out.txt new file mode 100644 index 0000000..775cdbf --- /dev/null +++ b/src/serial_out.txt @@ -0,0 +1,107 @@ +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Kp0.10Ki0.00Kd0.00 +Enter desired motor position: +Kp0.10Ki0.00Kd0.00 +Enter desired motor position: +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 0.00 Desired position: 5000.00 Error: 5000.00 +Actual position: 4818.00 Desired position: 5000.00 Error: 182.00 +Actual position: 5125.00 Desired position: 5000.00 Error: -125.00 +Actual position: 5125.00 Desired position: 5000.00 Error: -125.00 +Actual position: 5125.00 Desired position: 5000.00 Error: -125.00 +Actual position: 5125.00 Desired position: 5000.00 Error: -125.00 +Actual position: 5125.00 Desired position: 5000.00 Error: -125.00 +Actual position: 5125.00 Desired posiKp0.10Ki0.10Kd0.00 +Enter desired motor position: +Kp0.10Ki0.10Kd0.00 +Enter desired motor position: +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 613.00 Desired position: 5000.00 Error: 4387.00 +Actual position: 5926.00 Desired position: 5000.00 Error: -926.00 +Actual position: 5146.00 Desired position: 5000.00 Error: -146.00 +Actual position: 5146.00 Desired position: 5000.00 Error: -146.00 +Actual position: 5146.00 Desired position: 5000.00 Error: -146.00 +Actual position: 5058.00 Desired position: 5000.00 Error: -58.00 +ActualKp0.10Ki0.00Kd0.10 +⸮Kp0.10Ki0.00Kd0.10 +Enter desired motor position: +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 999.00 Desired position: 5000.00 Error: 4001.00 +Actual position: 3359.00 Desired position: 5000.00 Error: 1641.00 +Actual position: 4490.00 Desired position: 5000.00 Error: 510.00 +Actual position: 4735.00 Desired position: 5000.00 Error: 265.00 +Actual position: 4970.00 Desired position: 5000.00 Error: 30.00 +Actual position: 5045.00 Desired position: 5000.00 Error: -45.00 +Actual position: 5085.00 Desired position: 5000.00 Error: -85.00 +Actual position: 4998.00 Desired position: 5000.00 Error: 2.00 +Actual position: 5212.00 Desired position: 5000.00 Error: -212.00 +Actual position: 5196.00 Desired position: 5000.00 Error: -196.00 +Actual position: 5083.00 Desired position: 5000.00 Error: -83.00 +Actual position: 5322.00 Desired position: 5000.00 Error: -322.00 +Actual position: 5261.00 Desired position: 5000.00 Error: -261.00 +Actual position: 5131.00 Desired position: 5000.00 Error: -131.00 +Actual position: 5330.00 Desired position: 5000.00 Error: -330.00 +Actual position: 5258.00 Desired position: 5000.00 Error: -258.00 +Actual position: 5134.00 Desired position: 5000.00 Error: -134.00 +Kp0.10Ki0.00Kd0.00 +Enter desired motor position: +Kp0.10Ki0.00Kd0.00 +Enter desired motor position: +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Kp0.1⸮Kp0.10Ki0.10Kd0.10 +Enter desired motor position: +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 3088.00 Desired position: 5000.00 Error: 1912.00 +Actual position: 4664.00 Desired position: 5000.00 Error: 336.00 +Actual position: 5323.00 Desired position: 5000.00 Error: -323.00 +Actual position: 5458.00 Desired position: 5000.00 Error: -458.00 +Actual position: 5147.00 Desired position: 5000.00 Error: -147.00 +Actual position: 5002.00 Desired position: 5000.00 Error: -2.00 +Actual position: 4976.00 Desired position: 5000.00 Error: 24.00 +Actual position: 4828.00 Desired position: 5000.00 Error: 172.00 +Kp0.10Ki0.10Kd0.05 +Enter desired motor position: +Kp0.10Ki0.10Kd0.05 +Enter desired motor position: +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 0.00 Desired position: 0.00 Error: 0.00 +Actual position: 3618.00 Desired position: 5000.00 Error: 1382.00 +Actual position: 5357.00 Desired position: 5000.00 Error: -357.00 +Actual position: 5474.00 Desired position: 5000.00 Error: -474.00 +Actual position: 5383.00 Desired position: 5000.00 Error: -383.00 +Actual position: 5088.00 Desired position: 5000.00 Error: -88.00 +Actual position: 4985.00 Desired position: 5000.00 Error: 15.00 +Actual position: 4985.00 Desired position: 5000.00 Error: 15.00 +Actual position: 4985.00 Desired position: 5000.00 Error: 15.00 +Actual position: 4985.00 Desired position: 5000.00 Error: 15.00 +Actual position: 4985.00 Desired position: 5000.00 Error: 15.00 +Actual position: 4985.00 Desired position: 5000.00 Error: 15.00 +Actual position: 4985.00 Desired position: 5000.00 Error: 15.00 +Actual position: 4985.00 Desired position: 5000.00 Error: 15.00 +Actual position: 4985.00 Desired position: 5000.00 Error: 15.00 +Actual position: 4985.00 Desired position: 5000.00 Error: 15.00 +