Motion Control library for 2, 3 inputs Full Bridge + Quadrature Encoder, motor system (also called a 2 wheels robot)
Dependencies: Encoder_Nucleo_16_bits
Dependents: FRC_2018 FRC2018_Bis 0hackton_08_06_18 lib_FRC_2019 ... more
Diff: PID.cpp
- Revision:
- 3:93fb84c4e9bc
- Parent:
- 2:d6f14bb935da
- Child:
- 5:d01614d14cd1
--- a/PID.cpp Tue May 22 17:15:51 2018 +0000 +++ b/PID.cpp Wed May 23 15:08:15 2018 +0000 @@ -7,7 +7,7 @@ if (loopTime > 0.0001) _loopTime = loopTime; else _loopTime = 0.001; if (scale > 0) _scale = scale ; - else _scale = 31.8309886184; + else _scale = 63.6619772368; _pwm.period(1/20000); _pwm = 0;