Diff: main.cpp

Revision:

2:ad080363a22c

Parent:

1:bf71a7bd2d3e

Child:

3:dd0c62b586ea

diff -r bf71a7bd2d3e -r ad080363a22c main.cpp
--- a/main.cpp	Fri Mar 06 17:12:47 2015 +0000
+++ b/main.cpp	Mon Apr 06 16:25:18 2015 +0000
@@ -44,7 +44,7 @@
 float kp = 800;                                                 // Proportional gain
 float kd = 90;                                                  // Derivative gain
 float ki = 4;                                                   // Integrative gain
-float OVERALL_SCALAR = 7000;                                   // Overall scalar that speed is divided by
+float OVERALL_SCALAR = 7000;                                    // Overall scalar that speed is divided by
 float accBias = 0;                                              // Accelerometer Bias
 float gyroBias = 0;                                             // Gyro Bias
 float accAngle = 0;                                             // Global to hold angle measured by Accelerometer
@@ -94,7 +94,7 @@
     dAngle = -(imu.gx-gyroBias);                                // This is angular velocity
     iAngle=(0.99*iAngle+0.01*gyroAngle);                        // Sorta- running average-integral thing
     if(abs(pAngle)>=0.6&&abs(pAngle)<=25) {                     // If it is tilted enough, but not too much
-        speed=-(ki*iAngle+kd*dAngle+kp*pAngle)/OVERALL_SCALAR;   // drive to correct
+        speed=-(ki*iAngle+kd*dAngle+kp*pAngle)/OVERALL_SCALAR;  // drive to correct
         if(speed<-1) speed=-1;                                  // Cap if undershoot
         else if(speed>1) speed=1;                               // Cap if overshoot
     } else speed=0;                                             // If we've fallen over or are steady on top