Dammenisvoorcasuals / Mbed 2 deprecated chessRobot

control for robotic arm that can play chess using a granular gripper

Dependencies:   Encoder mbed HIDScope Servo MODSERIAL

Fork of chessRobot by a steenbeek

Diff: actuators.cpp

Revision:
101:b821e89fc108
Parent:
100:222c27f55b85
Child:
102:b3ab436fbe8e
--- a/actuators.cpp	Thu Oct 22 08:51:50 2015 +0000
+++ b/actuators.cpp	Thu Oct 22 09:34:31 2015 +0000
@@ -31,8 +31,8 @@
     double motor2PWM = 0;
 
     // Set PID values
-    double Kp1 = 1; 
-    double Ki1 = 0; 
+    double Kp1 = 0.008; 
+    double Ki1 = 0.08; 
     double Kd1 = 0;
 
     double Kp2 = 0.008; 
@@ -119,10 +119,9 @@
 
 void motorControl(){
     // EMG signals to motor speeds
-    const double scaleVel = 20;
-    motor1SetSpeed = x_velocity*scaleVel;
-    motor2SetSpeed = y_velocity*scaleVel;
-    servoSpeed = z_velocity*scaleVel;
+    motor1SetSpeed = x_velocity*2;
+    motor2SetSpeed = y_velocity*20;
+    servoSpeed = z_velocity*20;
 
     // get encoder positions in degrees
         // 131.25:1 gear ratio