ES309 Project Team / Mbed 2 deprecated ES309_NerfTurretfinal

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   Motor QEI mbed mbedWSEsbc

Fork of ES309_NerfTurret by ES309 Project Team

Files at this revision

API Documentation at this revision

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)