Diff: main.cpp

Revision:

12:00ba3be0d995

Parent:

11:4f3dcdd4d8ce

Child:

13:733030741583

--- a/main.cpp	Fri Feb 28 16:53:10 2020 +0000
+++ b/main.cpp	Fri Feb 28 22:45:38 2020 +0000
@@ -44,9 +44,9 @@
 //============== VARIAVEIS MAIS IMPORTANTES ================//
 //Separadas do resto para facilitar a alteração
 
-float ParametroCorrecao = 1.02;                //1.1   //       4.63    //  2  ----> 1.15
-float Kp_Sensor = 0.64; //0.14;   //0.2     //0.4   //      0.2     //  0.35--->0.55--0.7
-float Kd_Sensor = 8.8; //1.75;   //1.15     //0.6   //       2.7     //  4.3 --->7.2--8.4
+float ParametroCorrecao = 1.02;                //1.1   //       4.63    //  2  ----> 1.15----1.02
+float Kp_Sensor = 0.92; //0.14;   //0.2     //0.4   //      0.2     //  0.35--->0.55--0.7--0.64--0.92
+float Kd_Sensor = 12.1; //1.75;   //1.15     //0.6   //       2.7     //  4.3 --->7.1--8.4--8.8--12.1
 float BaseSpeed = 0.18;                     //0.12  //       0.15    //  0.18--->0.18
 
 //==========================================================//
@@ -332,7 +332,7 @@
     pwm.write(0.00); //Pulso inicial para cada motor
     pwm1.write(0.00);
     
-    //END.attach(&Final_Stop, 20); //Faz o LF parar depois de 20 segundos
+    END.attach(&Final_Stop, 30); //Faz o LF parar depois de 20 segundos
     
     while(1){
         //Para_Demonio();