Diff: main.cpp

Branch:

michi

Revision:

59:f6c3e42f16c7

Parent:

58:3cd93949a7d7

Child:

60:b2e9958f2298

--- a/main.cpp	Wed Apr 20 11:00:55 2022 +0200
+++ b/main.cpp	Wed Apr 20 11:02:17 2022 +0200
@@ -48,7 +48,7 @@
 // create SpeedController and PositionController objects, default parametrization is for 78.125:1 gear box
 const float max_voltage               = 12.0f;     // define maximum voltage of battery packs, adjust this to 6.0f V if you only use one batterypack
 const float counts_per_turn_wheels    = 20.0f * 78.125f;    // define counts per turn at gearbox end (counts/turn * gearratio) for wheels
-const float counts_per_turn_arm       = 20.0f * 78.125f * 10.0f;    // define counts per turn at gearbox end (counts/turn * gearratio) for arm
+const float counts_per_turn_arm       = 20.0f * 78.125f * 20.0f;    // define counts per turn at gearbox end (counts/turn * gearratio) for arm
 const float kn                        = 180.0f / 12.0f;      // define motor constant in rpm per V
 const float k_gear                    = 100.0f / 78.125f;   // define additional ratio in case you are using a dc motor with a different gear box, e.g. 100:1 (DC with 100:1 has 2'000 turns for 360°)
 const float kp                        = 0.1f;     // define custom kp, this is the default speed controller gain for gear box 78.125:1