control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
Diff: actuators.cpp
- Revision:
- 19:e89eae07dece
- Parent:
- 14:0c0d1bfd94ea
- Child:
- 20:3cba803cd771
diff -r 97eeb2686a6a -r e89eae07dece actuators.cpp --- 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);