this code is completely restructured, but should do the same thing. did not want to directly commit, since it may not work at all. compiles though.
Dependencies: AVEncoder mbed-src-AV
Fork of Test by
Diff: pid.h
- Revision:
- 13:5f08195456a4
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/pid.h Tue Dec 15 08:56:36 2015 +0000 @@ -0,0 +1,21 @@ +#ifndef PID_H +#define PID_H + +const float set_x_speed = .75; +const float set_w_speed = 0; + +const float left_max_speed = 5; // max speed is 6 encoder pulses per ms. +const float right_max_speed = 5; + +const float line_propo = 0; +const float line_deriv = 0; + +const float gyro_propo = 6.5; +const float gyro_deriv = 10; + +const float enco_propo = 6; +const float enco_deriv = 1000;//.0002; + +const float gyro_falloff = 1.0005; + +#endif \ No newline at end of file