![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
ObjectFollower
Dependencies: TPixy-Interface
Fork of PlayBack by
Diff: PiControlThread.cpp
- Revision:
- 25:f2a1bd6591fb
- Parent:
- 24:e88753f090b8
- Child:
- 27:510b4af89a6b
diff -r e88753f090b8 -r f2a1bd6591fb PiControlThread.cpp --- a/PiControlThread.cpp Tue Apr 03 16:00:10 2018 +0000 +++ b/PiControlThread.cpp Tue Apr 03 16:39:12 2018 +0000 @@ -40,10 +40,10 @@ void PeriodicInterruptISR(void); // steering gain -float Ks = 0.15; +float Ks = 0.1; // distance gain -float Kd = 10; +float Kd = 5; // overall robot required speed int Setpoint; @@ -139,8 +139,8 @@ } // Decoupled drive - setpointR = Setpoint + (Ks*SteeringError); - setpointL = Setpoint - (Ks*SteeringError); + setpointL = Setpoint + (Ks*SteeringError); + setpointR = Setpoint - (Ks*SteeringError); cameraData_mutex.unlock(); // Make sure our limit is not exceeded @@ -149,8 +149,8 @@ /*********************Differential End*********************************/ - U_right = PiControllerR(setpointR,sensors.dp_right); - U_left = PiControllerL(setpointL,sensors.dp_left); + U_right = PiControllerR(setpointR,-sensors.dp_right); + U_left = PiControllerL(setpointL,-sensors.dp_left); // Set speed and direction for right motor if (U_right >= 0)