Diff: inits.h

Revision:

18:4ee32b922251

Parent:

17:034b50f49f46

Child:

19:3ca10fe26131

--- a/inits.h	Wed Oct 07 12:19:30 2015 +0000
+++ b/inits.h	Wed Oct 07 13:19:25 2015 +0000
@@ -1,7 +1,7 @@
 //****************************************************************************/
 // Defines
 //****************************************************************************/
-#define RATE  0.05 
+#define RATE  0.01 
 #define calcRATE 0.5
 #define Kc    1.5
 #define Ti    0.8
@@ -44,7 +44,6 @@
 float thistime;
 bool goFlag=false;
 bool calcFlag=false;
-bool didCalc=false;
 bool systemOn=false;
 
 // Working variables: motors
@@ -80,7 +79,7 @@
 float toRightAngle;
 const double M_PI =3.141592653589793238463;
 const float l = 100; // distance between the motors
-const float armlength=150; // length of the arms from the motor
+const float armlength=50; // length of the arms from the motor
 
 void initMotors(){
     //Initialization of motor