Elct Car Team / Mbed 2 deprecated CarLab

first commit

Dependencies:   mbed MMA8451Q

Diff: steering_header.h

Revision:
24:7bf492bf50f4
Parent:
23:4c743746533c
Child:
25:8bd029d58251
--- a/steering_header.h	Wed Nov 03 21:52:00 2021 +0000
+++ b/steering_header.h	Thu Nov 04 17:21:18 2021 +0000
@@ -9,13 +9,13 @@
 #define SERVO_MOTOR_FREQ 50.0f
 #define CENTER_DUTY_CYCLE 0.075f
 #define REF 0.02 //in meters
-#define KP 1.803  
+#define KP 1.803  // 1.803
 
 #define KD 0.5003 
-#define TIME_DERIVATIVE 0.08 // was 0.08
+#define TIME_DERIVATIVE 0.1 // was 0.08
 
-#define KI_STEERING 2.397
-#define TIME_INTEGRAL 0.4
+#define KI_STEERING 8.397
+#define TIME_INTEGRAL 0.5 // 0.4 
 
 #define TI_STEERING 0.02 // in seconds
 #define SEN_DIFF_TO_DIST 0.97 //in [V/m]