2015_robocon_bteam / Mbed 2 deprecated 2015robot_main

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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

Diff: Parameters_ps3.h

Revision:
1:a89e2a604dcf
Parent:
0:bd4719e15f7e
Child:
2:cf8ca6742db9
--- a/Parameters_ps3.h	Sun Aug 30 10:49:16 2015 +0000
+++ b/Parameters_ps3.h	Mon Aug 31 00:25:25 2015 +0000
@@ -20,8 +20,8 @@
 #define MOVE_R_OUTPUT_LIMIT_BOTTOM -1.0
 #define MOVE_R_OUTPUT_LIMIT_TOP 1.0
 #define MOVE_R_BIAS 0.0
-#define MOVE_R_Kc 0.2
-#define MOVE_R_TAUi 0.01
+#define MOVE_R_Kc 0.1
+#define MOVE_R_TAUi 0.05
 #define MOVE_R_TAUd 0.0
 
 #define MOVE_L_INPUT_LIMIT_BOTTOM -100.0
@@ -29,8 +29,8 @@
 #define MOVE_L_OUTPUT_LIMIT_BOTTOM -1.0
 #define MOVE_L_OUTPUT_LIMIT_TOP 1.0
 #define MOVE_L_BIAS 0.0
-#define MOVE_L_Kc 0.2
-#define MOVE_L_TAUi 0.01 
+#define MOVE_L_Kc 0.1
+#define MOVE_L_TAUi 0.05 
 #define MOVE_L_TAUd 0.0 
 
 /***Swing speed PID controller***/
@@ -43,18 +43,6 @@
 #define SWING_TAUi 0.1 //tau_i
 #define SWING_TAUd 0.0  //tau_d
 
-///////////////////////////////////////////////////////////////////////////////
-/***Diff accel PID controller***/
-#define DIFF_INPUT_LIMIT_BOTTOM -100.0
-#define DIFF_INPUT_LIMIT_TOP 100.0
-#define DIFF_OUTPUT_LIMIT_BOTTOM 0.2
-#define DIFF_OUTPUT_LIMIT_TOP 0.0
-#define DIFF_BIAS 0.0
-#define DIFF_Kc 10.0
-#define DIFF_TAUi 10.0 //tau_i
-#define DIFF_TAUd 0.0  //tau_d
-///////////////////////////////////////////////////////////////////////////////
-
 /**
  * Motor Parameters.
  */