cdo/cart-and-pole
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Make the pendulum mass bigger and increase max force

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Camden Dixie O'Brien 2025-05-24 17:32:16 +01:00
parent 4cb0bbcb41
commit 54c6e761f0
1 changed files with 4 additions and 4 deletions
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8
main.c
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@ -15,9 +15,9 @@
#define SCENE_WIDTH (WIN_WIDTH - 2 * MARGIN_X)
#define SCENE_HEIGHT (WIN_HEIGHT - 2 * MARGIN_Y)
#define CART_WIDTH 50
#define CART_WIDTH 40
#define CART_HEIGHT 20
#define MASS_RADIUS 10
#define MASS_RADIUS 20
#define SETPOINT_LN_LEN 40
#define A_KP 80.0
@ -36,7 +36,7 @@ typedef struct {
} state_t;
static const double mc = 2; // Cart mass
static const double mp = 2; // Pendulum mass
static const double mp = 4; // Pendulum mass
static const double l = 0.5; // Pendulum length
static const double g = 9.8; // Gravity
@ -75,7 +75,7 @@ static double control(const state_t *s, double pos, double dt)
const double err_a = s->a - target_a;
const double deriv_a = (err_a - prev_a) / dt;
const double out = CLAMP(A_KP * err_a + A_KD * deriv_a, -5.0, 5.0);
const double out = CLAMP(A_KP * err_a + A_KD * deriv_a, -10.0, 10.0);
prev_a = err_a;
return out;