Elct Car Team / Mbed 2 deprecated CarLab

first commit

Dependencies:   mbed MMA8451Q

Diff: steering_header.h

Revision:
26:54ce9f642477
Parent:
25:8bd029d58251
Child:
27:0fa9d61c5fc6
--- a/steering_header.h	Sat Nov 06 16:31:02 2021 +0000
+++ b/steering_header.h	Mon Nov 08 21:08:41 2021 +0000
@@ -8,16 +8,17 @@
 #define MIN_TURN_ANGLE -M_PI/4
 #define SERVO_MOTOR_FREQ 50.0f
 #define CENTER_DUTY_CYCLE 0.075f
-#define REF 0.000 //in meters
+#define REF -0.02 //in meters
 
-float KP = 5.5;//1.2  // 1.5
-#define KI_STEERING 1.2//4.1985
-float KD=  0.2;//0.05003 
+float KP = 5.3;//1.2  // 1.5
+#define KI_STEERING 10.2//4.1985
+float KD = 0.1;//0.05003 
+
 
 #define TIME_DERIVATIVE 1 //0.1 // was 0.08
 #define TIME_INTEGRAL 1  //0.5 // 0.4 
 
-#define TI_STEERING 0.01 // in seconds
+#define TI_STEERING 0.01f // in seconds
 #define SEN_DIFF_TO_DIST 3.5216
 #define BITS 4
 //Construct the Ticker to call the steering control system at a set rate