2015_robocon_bteam / Mbed 2 deprecated 2015robot_main_zenkoku

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Dependencies:   PID QEI mbed

Diff: autoMode.h

Revision:
6:ca3a74a93ae2
Parent:
3:8d8c25c556ae
Child:
13:57d8e360e9aa
--- a/autoMode.h	Sat Oct 31 09:03:47 2015 +0000
+++ b/autoMode.h	Sun Nov 01 02:31:30 2015 +0000
@@ -27,6 +27,7 @@
             autoflag=0;
             Indicator4=0;
             IndicatorAuto=1;
+            direction_controller.setTunings(12.0,9.0,0.0);
             flaga=0;
             Move_l(0.0);
             Move_r(0.0);
@@ -303,6 +304,7 @@
 inline void initializeControllers()
 {
     velocity_controller.setInputLimits(-20000.0, 20000.0); //x1
+//    velocity_controller.setInputLimits(-1500.0, 1500.0); //x1
     direction_controller.setInputLimits(-PI, PI); //x2
 
     //Pwm output from MOVE_OUTPUT_LIMIT_BOTTOM to MOVE_OUTPUT_LIMIT_TOP