Diff: steering_header.h

Revision:

25:8bd029d58251

Parent:

24:7bf492bf50f4

Child:

26:54ce9f642477

--- a/steering_header.h	Thu Nov 04 17:21:18 2021 +0000
+++ b/steering_header.h	Sat Nov 06 16:31:02 2021 +0000
@@ -8,17 +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 KP 1.803  // 1.803
+#define REF 0.000 //in meters
 
-#define KD 0.5003 
-#define TIME_DERIVATIVE 0.1 // was 0.08
+float KP = 5.5;//1.2  // 1.5
+#define KI_STEERING 1.2//4.1985
+float KD=  0.2;//0.05003 
 
-#define KI_STEERING 8.397
-#define TIME_INTEGRAL 0.5 // 0.4 
+#define TIME_DERIVATIVE 1 //0.1 // was 0.08
+#define TIME_INTEGRAL 1  //0.5 // 0.4 
 
-#define TI_STEERING 0.02 // in seconds
-#define SEN_DIFF_TO_DIST 0.97 //in [V/m]
+#define TI_STEERING 0.01 // 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
 // INPUT PINS 
@@ -39,5 +39,5 @@
 // Tickers
 volatile bool steering_enabled = true;
 Ticker steering_control_ticker;
-
-
+int counter=0;
+int lap=0;