2017ロボコンはやとブーメランプログラム
Dependencies: PID QEI ikarashiMDC recieveController omni
Diff: hayatoBoomerang.cpp
- Revision:
- 10:5ef1515735a4
- Parent:
- 9:6540a10a07fb
- Child:
- 14:5cc44bec9cfc
diff -r 6540a10a07fb -r 5ef1515735a4 hayatoBoomerang.cpp --- a/hayatoBoomerang.cpp Wed Sep 13 15:35:37 2017 +0900 +++ b/hayatoBoomerang.cpp Wed Sep 13 22:55:31 2017 +0900 @@ -14,7 +14,7 @@ speedPID = new PID(SPEED_P,SPEED_I,SPEED_D,RATE); armPID = new PID(ARM_P,ARM_I,ARM_D,RATE); speedPID->setInputLimits(0.0,9000.0); - speedPID->setOutputLimits(0,0.5); + speedPID->setOutputLimits(0,0.7); armPID->setInputLimits(5,80); armPID->setOutputLimits(-1.0,1.0);