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Dependencies: Motor QEI mbed mbedWSEsbc
Fork of ES309_NerfTurret by
Revision 3:4dcf81584894, committed 2016-05-12
- Comitter:
- caleblegis
- Date:
- Thu May 12 13:16:33 2016 +0000
- Parent:
- 2:b8a033375c27
- Commit message:
- h
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r b8a033375c27 -r 4dcf81584894 main.cpp --- a/main.cpp Thu May 12 12:51:37 2016 +0000 +++ b/main.cpp Thu May 12 13:16:33 2016 +0000 @@ -77,17 +77,17 @@ // Control algorithm DC = (0.9841*old_DC) + (0.2348*E) - (0.2335*old_E); old_E = E; - m.speed(DC+0.15); + // m.speed(DC+0.15); old_DC = DC; if(DC>0 && DC<0.7) - m.speed(DC+0.1); - if(E>-1.0) + m.speed(DC+0.4); + if(E<-1.0) m.speed(DC+0.15); if (E<0.015 && E>-0.01) m.speed(0.0); else if(DC<0 && DC>-0.7) { - m.speed(DC-0.34); + m.speed(DC-0.8); if(E>-1.0) m.speed(DC-0.5); if (E>-0.015&& E<0.01)