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:
19:e89eae07dece
Parent:
14:0c0d1bfd94ea
Child:
20:3cba803cd771
--- a/actuators.cpp	Mon Oct 05 19:51:26 2015 +0200
+++ b/actuators.cpp	Mon Oct 05 19:53:22 2015 +0200
@@ -58,8 +58,8 @@
 void initPID(){
     // create PID instances for motors
         // PID pidname(input, output, setpoint, kp, ki, kd, direction)
-    PID PIDmotor1(Kp1, Ki1, Kd1);
-    PID PIDmotor2(Kp2, Ki2, Kd2);
+    PID PIDmotor1(Kp1, Ki1, Kd1, 0.2);
+    PID PIDmotor2(Kp2, Ki2, Kd2, 0.2);
     PIDmotor1.setSetPoint(motorSetSpeed1);
     PIDmotor2.setSetPoint(motorSetSpeed2);