Elct Car Team / Mbed 2 deprecated CarLab

first commit

Dependencies:   mbed MMA8451Q

Diff: steering_header.h

Revision:
22:08d30ea47111
Parent:
5:636c3fe18aa8
Child:
23:4c743746533c
--- a/steering_header.h	Fri Oct 29 18:42:13 2021 +0000
+++ b/steering_header.h	Wed Nov 03 16:13:02 2021 +0000
@@ -9,10 +9,12 @@
 #define SERVO_MOTOR_FREQ 50.0f
 #define CENTER_DUTY_CYCLE 0.075f
 #define REF 0.0f //in meters
-#define KP 16.45 //  16.65 optimal 
-#define KD 0.98 // 0.88 optimal
-#define TIME_DERIVATIVE 0.9 // good 0.8
-//#define TI 0.02 // in seconds
+#define KP 1.703 //  16.65 optimal 
+#define KD 0.5003 // 0.88 optimal
+#define TIME_DERIVATIVE 0.08 // good 0.8
+#define KI_STEERING 0.397
+#define TIME_INTEGRAL 0.08
+#define TI_STEERING 0.02 // in seconds
 #define SEN_DIFF_TO_DIST 0.97 //in [V/m]
 #define BITS 4
 //Construct the Ticker to call the steering control system at a set rate