Diff: main.cpp

Revision:

18:05ff73b29654

Parent:

16:4bfcc154bba0

Child:

19:ed6043782809

--- a/main.cpp	Fri Nov 03 01:14:58 2017 +0000
+++ b/main.cpp	Fri Nov 03 11:18:09 2017 +0000
@@ -128,17 +128,17 @@
     float kp = 0.0015;                               // kind of scaled.
     float Proportional= kp*error;
     
-    float kd = 0.000008;                           // kind of scaled. 
+    /*float kd = 0.00008;                           // kind of scaled. 
     float VelocityError = (error - e_prev)/Ts; 
     float Derivative = kd*VelocityError;
-    e_prev = error;
+    */e_prev = error;
     
     float ki = 0.0001;                           // kind of scaled.
     e_int = e_int+Ts*error;
     float Integrator = ki*e_int;
     
     
-    float motorValue = Proportional + Integrator + Derivative;
+    float motorValue = Proportional + Integrator; //+ Derivative;
     return motorValue;
 }