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Dependencies: mbed QEI Servo HIDScope biquadFilter MODSERIAL FastPWM
Revision 61:07035c03cf29, committed 2019-11-01
- Comitter:
- Jellehierck
- Date:
- Fri Nov 01 00:38:26 2019 +0000
- Parent:
- 60:762b5c925e13
- Child:
- 62:b1790e927a90
- Child:
- 64:a0ca27f75801
- Commit message:
- Changed demo mode velocities;
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Fri Nov 01 00:25:45 2019 +0000
+++ b/main.cpp Fri Nov 01 00:38:26 2019 +0000
@@ -1018,8 +1018,8 @@
timerStateChange.start();
}
- Vx = 10.0;
- Vy = 10.0;
+ Vx = 8.0;
+ Vy = 8.0;
PID_controller();
motorControl();
@@ -1050,18 +1050,18 @@
static float t = 0.0;
if ( t >= 0.0f && t < 3.0f ) {
- Vx = 10;
- Vy = 0;
+ Vx = 5.0;
+ Vy = 0.0;
} else if ( t >= 3.0f && t < 6.0f ) {
- Vx = 0;
- Vy = 10;
+ Vx = 0.0;
+ Vy = 5.0;
} else if ( t >= 6.0f && t < 9.0f ) {
- Vx = -10;
- Vy = 0;
+ Vx = -5.0;
+ Vy = 0.0;
}
if ( t >= 9.0f && t < 12.0f ) {
- Vx = 0;
- Vy = -10;
+ Vx = 0.0;
+ Vy = -5.0;
} else if ( t >= 12.0f) {
t = 0.0;
}