2022_gorobo_Ateam / 2022_Ateam_MOTORprogram

足回り用プログラム(修正版)

Dependencies:   SBDBT arrc_mbed BNO055

Diff: PIDco.cpp

Revision:
5:e189d55ef292
Parent:
1:ea880e226e5a
--- a/PIDco.cpp	Thu Jan 20 07:27:53 2022 +0000
+++ b/PIDco.cpp	Fri Jan 28 15:12:04 2022 +0000
@@ -1,7 +1,7 @@
 #include "PIDco.hpp"
 
 PIDco::PIDco(){
-    spd =  0.0;
+    spd = 0.0;
     Pwm = 0.0;
     dt = 0.05;
     Integral = 0.0;
@@ -31,8 +31,8 @@
     PwmOut v1p(PIN_A);
     PwmOut v1m(PIN_B);
     
-    v1p.period_us(2048);
-    v1m.period_us(2048);
+    v1p.period_us(1024);
+    v1m.period_us(1024);
     
     cal_spd();
     cal_Error();