ES202_Final / Mbed 2 deprecated ES202_straight1

take 1

Dependencies:   ContinuousServo Tach mbed

Diff: main.cpp

Revision:
1:ed49c46d8998
Parent:
0:b059e65bf362
Child:
2:bf1da9059e82
--- a/main.cpp	Thu Apr 19 15:22:15 2018 +0000
+++ b/main.cpp	Thu Apr 19 15:36:11 2018 +0000
@@ -22,8 +22,10 @@
 float PIpwmR(float desired_speed,float speed); 
 
 int main() {
+    wait(5);
     //go straight
     while(1){
+        
         speedL = tLeft.getSpeed();
         speedR = tRight.getSpeed();
         l = PIpwmL(0.5, speedL);
@@ -52,6 +54,6 @@
         float sampling_per = 0.05;
         float errorR = desired_speed - speed;
         integral_errorR += (errorR*sampling_per);
-        float right = (0.07*integral_errorR) + (0.06*errorR) + 0.31;
+        float right = (0.07*integral_errorR) + (0.06*errorR) + 0.3;
         return right;
     }
\ No newline at end of file