kani
Dependencies: 2017NHKpin_config FEP omni_wheel PID R1307 ikarashiMDC
\ ̄\ / ̄/ /l \ \ / / lヽ | ヽ ヽ | | / / | \ ` ‐ヽ ヽ ● ● / / ‐ / \ __ l | ||___|| / l __ / \ \ / \/ /\| 人__人 |/\ <ズワイガニ //\| |/\\ //\| ケガニ |/\\ / . \_____/ \ ┏┓ ┏━┓┏┓ ┏┓ ┏┓┏┓ ┏┓ ┏┓┗┛ ┏┓ ┗┓┃┗┛ ┏┛┗━┓ ┃┃┃┃ ┃┃┏━┛┗┓┏┓┏┛┗━┓┃┃┏┓┏┓┏━━━┓ ┗┓┏━┛ ┃┃┗┛ ┃┃┗━┓┏┛┗┛┗┓┏┓┃┗┛┗┛┃┃┗━━━┛ ┏┛┃┏━┓┃┗━━┓┃┃┏━┛┗┓ ┏┛┃┃┃ ┃┃ ┃┏┛┗━┛┗━━┓┃┃┃┃┏┓┏┛ ┗━┛┃┃ ┃┃┏┓ ┃┃┏━━┓┏━━┛┃┃┃┃┗┛┃ ┏┛┃ ┃┃┃┗━━┓ ┗┛┗━━┛┗━━━┛┗┛┗━━┛ ┗━┛ ┗┛┗━━━┛
Diff: bot/PIDcontroller/PID_controller.h
- Branch:
- noHMC
- Revision:
- 40:e7fe8b2c1d21
- Parent:
- 35:4608938f67c5
--- a/bot/PIDcontroller/PID_controller.h Thu Oct 19 15:37:28 2017 +0900 +++ b/bot/PIDcontroller/PID_controller.h Sat Oct 21 14:30:28 2017 +0900 @@ -27,12 +27,12 @@ #include "PID.h" #include "HMC6352.h" -const double KC = 8.2; +const double KC = 5.2; const double TI = 0.0; -const double TD = 0.0005; +const double TD = 0.0; const float INTERVAL = 0.01; const float INPUT_LIMIT = 360.0; -const float OUTPUT_LIMIT = 0.4; +const float OUTPUT_LIMIT = 0.6; const float BIAS = 0.0; const int SENSED_THRESHOLD = 1800;