NHK2017Ateamかにろぼ
Dependencies: 2017NHKpin_config mbed FEP HMC6352 MotorDriverController PID QEI omni
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Diff: bot/PIDcontroller/PID_controller.h
- Revision:
- 19:3a62cbc6fee9
- Parent:
- 18:41f7dd1a5ed1
- Child:
- 21:b2c1d73b0ee9
diff -r 41f7dd1a5ed1 -r 3a62cbc6fee9 bot/PIDcontroller/PID_controller.h --- a/bot/PIDcontroller/PID_controller.h Thu Aug 31 10:34:55 2017 +0900 +++ b/bot/PIDcontroller/PID_controller.h Mon Sep 04 01:01:13 2017 +0000 @@ -12,12 +12,12 @@ #include "HMC6352.h" #define M_PI 3.141592653589793 -#define KC 1.0 +#define KC 5.0 #define TI 0.0 #define TD 0.0 #define INTERVAL 0.05 #define INPUT_LIMIT 180 -#define OUTPUT_LIMIT 1.0 +#define OUTPUT_LIMIT 0.4 #define BIAS 0.0 /** @@ -44,6 +44,7 @@ void confirm(); float getCo(); + void calibration(int mode); private : void updateOutput();