GDP 4 / Mbed 2 deprecated pid-car-example

car using PID from centre line

Dependencies:   FRDM-TFC mbed CBuffer XBEE mbed_angular_speed motor2 MMA8451Q

Fork of KL25Z_Camera_Test by GDP 4

Diff: main.cpp

Revision:
10:1bd0224093e4
Parent:
9:aa2ce38dec6b
Child:
11:53de69b1840b
diff -r aa2ce38dec6b -r 1bd0224093e4 main.cpp
--- a/main.cpp	Wed Nov 16 16:05:13 2016 +0000
+++ b/main.cpp	Wed Nov 16 16:31:46 2016 +0000
@@ -18,6 +18,8 @@
 #define CAM_THRESHOLD 109
 #define CAM_DIFF 10
 
+#define RIGHT_MOTOR_COMPENSATION_RATIO 1.1586276
+
 //Serial pc(USBTX,USBRX);
 Serial pc(PTD3,PTD2);
 XBEE xb(&pc);
@@ -216,7 +218,7 @@
             if(cmd == 'D') {
                 TFC_InitServos(0.00052,0.00122,0.02);
                 TFC_HBRIDGE_ENABLE;
-                TFC_SetMotorPWM(speed,speed);   
+                TFC_SetMotorPWM(RIGHT_MOTOR_COMPENSATION_RATIO*speed,speed);
                 integral = 0;
                 
             } else if (cmd == 'C') {