FRC - Hackathon / PID

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;