ES202_Final / Mbed 2 deprecated ES202_straight1

take 1

Dependencies:   ContinuousServo Tach mbed

Files at this revision

API Documentation at this revision

Revision 2:bf1da9059e82, committed 2018-04-23

Comitter:
nbchaskin
Date:
Mon Apr 23 15:16:56 2018 +0000
Parent:
1:ed49c46d8998
Commit message:
Edited values

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- 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;
     }
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