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Dependencies: HIDScope PID QEI mbed EMG
Fork of
PID_VelocityExample
by 
Aaron Berk
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