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:
12:13f42fe66fb1
Parent:
8:4553677e8b99
Child:
13:0227a21c181a
diff -r cf0b7380a45f -r 13f42fe66fb1 PID.cpp
--- a/PID.cpp	Thu Oct 24 13:20:07 2019 +0000
+++ b/PID.cpp	Fri Oct 25 08:05:11 2019 +0000
@@ -152,7 +152,7 @@
 
     deltaX = meanDist * cos (_THETA);
     deltaY = meanDist * sin (_THETA);
-    deltaTheta = diffDist / 230;
+    deltaTheta = atan2(diffDist,230.0);
 
     _X += deltaX;
     _Y += deltaY;