MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

Diff: main.h

Revision:
32:69acb14778ea
Parent:
31:9b71b44e0867
Child:
33:68ce1f74ab5f
--- a/main.h	Wed May 24 21:47:21 2017 +0000
+++ b/main.h	Fri May 26 03:46:03 2017 +0000
@@ -9,7 +9,7 @@
 #include <utility>      // std::pair, std::make_pair
 
 #define PULSES 3520
-#define SAMPLE_NUM 100
+#define SAMPLE_NUM 40
 
 // Motors
 /*
@@ -167,10 +167,14 @@
 // #define IP_CONSTANT 8.85
 // #define II_CONSTANT 0.005
 // #define ID_CONSTANT 3.15
-#define IP_CONSTANT 8.2
-#define II_CONSTANT 0.06
-#define ID_CONSTANT 7.55
+//#define IP_CONSTANT 8.2
+//#define II_CONSTANT 0.06
+//#define ID_CONSTANT 7.55
  
+#define IP_CONSTANT 0.25
+#define II_CONSTANT 0
+#define ID_CONSTANT 0.00
+
 const int desiredCount180 = 2870;
 const int desiredCountR = 1700;
 const int desiredCountL = 1700;