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

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