Elct Car Team / Mbed 2 deprecated CarLab

first commit

Dependencies:   mbed MMA8451Q

Diff: steering_header.h

Revision:
31:d570f957e083
Parent:
30:ab358e8a9e6a
Child:
34:cb9a0cec2feb
--- a/steering_header.h	Fri Nov 19 22:53:54 2021 +0000
+++ b/steering_header.h	Mon Nov 22 21:44:10 2021 +0000
@@ -8,7 +8,7 @@
 #define MIN_TURN_ANGLE -M_PI/4
 #define SERVO_MOTOR_FREQ 50.0f
 #define CENTER_DUTY_CYCLE 0.075f
-#define REF 0.00f //in meters
+float REF = 0.00f; //in meters
 
 /* most recent PID values
 float KP = 5.3;//1.2  // 1.5
@@ -17,7 +17,7 @@
 */
 
 float KP =  6.6f;             //at 0.17 best is 6.0f
-float KI_STEERING = 0.5f;  // at 0.17 best is 0.25f;
+float KI_STEERING = 0.3f;  // at 0.17 best is 0.25f;
 float KD =  0.4f;           //at 0.17 best is 0.3f;