Elct Car Team / Mbed 2 deprecated CarLab

first commit

Dependencies:   mbed MMA8451Q

Diff: steering_header.h

Revision:
27:0fa9d61c5fc6
Parent:
26:54ce9f642477
Child:
28:1c2eb25d624e
--- a/steering_header.h	Mon Nov 08 21:08:41 2021 +0000
+++ b/steering_header.h	Mon Nov 15 21:18:37 2021 +0000
@@ -8,11 +8,17 @@
 #define MIN_TURN_ANGLE -M_PI/4
 #define SERVO_MOTOR_FREQ 50.0f
 #define CENTER_DUTY_CYCLE 0.075f
-#define REF -0.02 //in meters
+#define REF 0.00f //in meters
 
+/* most recent PID values
 float KP = 5.3;//1.2  // 1.5
 #define KI_STEERING 10.2//4.1985
 float KD = 0.1;//0.05003 
+*/
+
+#define KP 4.0f//1.2  // 1.5
+#define KI_STEERING 0.25f//4.1985
+#define KD 0.025f//0.05003 
 
 
 #define TIME_DERIVATIVE 1 //0.1 // was 0.08