Diff: PiControlThread.cpp

Revision:

27:510b4af89a6b

Parent:

25:f2a1bd6591fb

--- a/PiControlThread.cpp	Tue Apr 03 16:52:38 2018 +0000
+++ b/PiControlThread.cpp	Tue Apr 03 17:11:59 2018 +0000
@@ -40,10 +40,10 @@
 void PeriodicInterruptISR(void);
 
 // steering gain
-float Ks = 0.1;
+float Ks = 0.12;
 
 // distance gain
-float Kd = 5;
+float Kd = 3;
 
 // overall robot required speed
 int Setpoint;
@@ -148,7 +148,12 @@
         setpointL = SaturateValue(setpointL, 112);
        
         /*********************Differential End*********************************/
-
+        
+        /* the signs for dP are switched here in code instead of switching the 
+         * channels wires connected to the FPGA due to reversing the orientation 
+         * of the Robot
+         */
+         
         U_right = PiControllerR(setpointR,-sensors.dp_right);
         U_left  = PiControllerL(setpointL,-sensors.dp_left);