take 1
Dependencies: ContinuousServo Tach mbed
Diff: main.cpp
- Revision:
- 2:bf1da9059e82
- Parent:
- 1:ed49c46d8998
diff -r ed49c46d8998 -r bf1da9059e82 main.cpp --- a/main.cpp Thu Apr 19 15:36:11 2018 +0000 +++ b/main.cpp Mon Apr 23 15:16:56 2018 +0000 @@ -45,7 +45,7 @@ float sampling_per = 0.05; float errorL = desired_speed - speed; integral_errorL += (errorL*sampling_per); - float left = (0.07*integral_errorL) + (0.08*errorL) + 0.49; + float left = (0.07*integral_errorL) + (0.08*errorL) + 0.48; return left; } float PIpwmR(float desired_speed,float speed) @@ -54,6 +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) + 0.3; + float right = (0.07*integral_errorR) + (0.08*errorR) + 0.25; return right; } \ No newline at end of file