2
Dependencies: AQM0802A HMC6352 PID Servo mbed
Diff: main.h
- Revision:
- 4:f7946508daa8
- Parent:
- 3:0c994b3a882e
- Child:
- 5:dace4f3b6e4a
--- a/main.h Mon Mar 02 05:55:33 2015 +0000 +++ b/main.h Tue Mar 03 02:36:28 2015 +0000 @@ -1,13 +1,13 @@ /*PID処理*/ -#define RATE 0.18//52 -#define PID_BIAS 0.3 +#define RATE 0.052//52 +#define PID_BIAS 0.1 #define REFERENCE 180.0 #define MINIMUM 0.1 #define MAXIMUM 360.0 #define P_GAIN 1.8//1.4 //0.78 #define I_GAIN 0.0 //0.0 -#define D_GAIN 0.05 //0.009 +#define D_GAIN 0.03 //0.009 #define OUT_LIMIT 50.0 #define MAX_POW 100 #define MIN_POW -100 @@ -30,6 +30,9 @@ #define CW 1 #define CCW -1 +#define ENTER 0 +#define EXIT 1 + BusIn Sw(p22,p23,p24,p25,p26); BusIn Line(p5,p6,p7,p8);//No reading line → 0b1111 ,not pull up