2015_robocon_bteam
/
2015robot_main
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Fork of
2015robot_main
by 
Naoto Deguchi
Diff: Parameters_ps3.h
- Revision:
- 4:51d87d2b698c
- Parent:
- 2:cf8ca6742db9
- Child:
- 8:1638e8c8ca93
diff -r cf8ca6742db9 -r 51d87d2b698c Parameters_ps3.h --- a/Parameters_ps3.h Mon Aug 31 04:10:00 2015 +0000 +++ b/Parameters_ps3.h Sat Sep 05 04:27:19 2015 +0000 @@ -21,7 +21,8 @@ #define MOVE_R_OUTPUT_LIMIT_TOP 1.0 #define MOVE_R_BIAS 0.0 #define MOVE_R_Kc 0.1 -#define MOVE_R_TAUi 0.05 +#define MOVE_R_TAUi 0.005 +//#define MOVE_R_TAUi 0.01 #define MOVE_R_TAUd 0.0 #define MOVE_L_INPUT_LIMIT_BOTTOM -100.0 @@ -30,17 +31,18 @@ #define MOVE_L_OUTPUT_LIMIT_TOP 1.0 #define MOVE_L_BIAS 0.0 #define MOVE_L_Kc 0.1 -#define MOVE_L_TAUi 0.05 +#define MOVE_L_TAUi 0.005 +//#define MOVE_L_TAUi 0.01 #define MOVE_L_TAUd 0.0 /***Swing speed PID controller***/ -#define SWING_INPUT_LIMIT_BOTTOM -100000.0 -#define SWING_INPUT_LIMIT_TOP 100000.0 +#define SWING_INPUT_LIMIT_BOTTOM -1000000.0 +#define SWING_INPUT_LIMIT_TOP 1000000.0 #define SWING_OUTPUT_LIMIT_BOTTOM 0.0 #define SWING_OUTPUT_LIMIT_TOP 1.0 #define SWING_BIAS 0.0 -#define SWING_Kc 10.0 -#define SWING_TAUi 0.1 //tau_i +#define SWING_Kc 1000.0 +#define SWING_TAUi 0.01 //tau_i #define SWING_TAUd 0.0 //tau_d /**
