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
pid.h
- Committer:
- jimmery
- Date:
- 2015-12-15
- Revision:
- 13:5f08195456a4
File content as of revision 13:5f08195456a4:
#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