2015-2016_Mouserat / Restructured_Test

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 2015-2016_Mouserat

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