Buggy bois / Mbed 2 deprecated HEATS_2

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Dependencies:   mbed

Diff: WheelControl/Wheel.h

Revision:
9:cefa177c1353
Parent:
8:5ed6685f6edd
Child:
10:acf5cb8d58d5
diff -r 5ed6685f6edd -r cefa177c1353 WheelControl/Wheel.h
--- a/WheelControl/Wheel.h	Sun Mar 31 20:31:30 2019 +0000
+++ b/WheelControl/Wheel.h	Fri Apr 05 16:11:28 2019 +0000
@@ -25,7 +25,7 @@
     
     float static const wheelDiameter = 0.18; //used in calculation of Linear velocity i.e never
     
-    Wheel (Encoder* E, PinName M, PinName D, PinName Mode) : Mtr(M), direction(D), polarity(Mode), controller(gain,3.0f,0.00005f,0.0005f)
+    Wheel (Encoder* E, PinName M, PinName D, PinName Mode) : Mtr(M), direction(D), polarity(Mode), controller(gain,6.0f,0.00005f,0.0005f)
         {
         maxAngularVel = 0.0f;
         enc = E;
@@ -74,7 +74,7 @@
     {
         enc->startTimer();
         calculateAngularVelocity();
-        maxAngularVel = 60.0f;
+        maxAngularVel = 75.0f;
         minAngularVel = -1.0f*maxAngularVel;
         controller.setSetPoint(0.0f);
         updater.attach(callback(this, &Wheel::wheelUpdates),0.0005f);