Diff: settings.h

Revision:

18:9204f74069b4

Parent:

17:bf614e28668f

Child:

19:3e3b03d80ea3

--- a/settings.h	Sun Jun 04 13:11:09 2017 +0000
+++ b/settings.h	Sun Jun 04 20:22:41 2017 +0000
@@ -34,13 +34,15 @@
 
 /* USE_MOTOR_CALIBRATION [1=on, recommended      0=off]
  * If enabled, the actual motor speeds will be adjusted from the requested values using the motor calibration values stored in
- * firmware (and set using the motor calibration code in the demo mode)
+ * firmware (and set using the motor calibration code in the demo mode).  If calibration values not stall, will still offset
+ * motors if OFFSET_MOTORS is enable.
  */
 #define USE_MOTOR_CALIBRATION 1
 
 /* OFFSET_MOTORS [1=on, recommended      0=off]
  * The motors typically stall when the PWM output is below around 0.2
  * Enabling the offset shifts the actual PWM range so that the motor speed 0.0 -> 1.0 actually sets a PWM output of 0.2 -> 1.0
+ * If USE_MOTOR_CALIBRATION enable and calibration values for robot stored, OFFSET_MOTORS is ignored as offset is included in calibration
  */
 #define OFFSET_MOTORS 1 
 
@@ -96,8 +98,8 @@
 /* DEBUG_OUTPUT_STREAM [1=PC\USB 2=BlueSmirf 4=Display]:  Specify which output stream(s) should be used by default for debug messages, if enabled*/
 #define DEBUG_OUTPUT_STREAM 1
 
-/* SELF_TEST_PERIOD [recommended = 10000]:  Step time (in uS) for the quick self-test in the demo mode*/
-#define SELF_TEST_PERIOD 10000
+/* SELF_TEST_PERIOD [recommended = 20000]:  Step time (in uS) for the quick self-test in the demo mode*/
+#define SELF_TEST_PERIOD 20000
 
 /* SAMPLE_SIZE [recommended = 10]:  Number of samples to take for the quick self-test in the demo mode*/
 #define SAMPLE_SIZE 10