Diff: Robot_Library/robot.h

Revision:

76:2302f2b51e63

Parent:

74:76c7a805f63d

Child:

77:19cf9072bc22

--- a/Robot_Library/robot.h	Mon May 30 20:21:15 2022 +0200
+++ b/Robot_Library/robot.h	Tue May 31 10:44:16 2022 +0200
@@ -20,8 +20,8 @@
             INITIAL, 
             IDLE, 
             FOLLOWING_LINE,
-            RIGHT_TURN_90,
-            LEFT_TURN_90,
+            RIGHT_TURN,
+            LEFT_TURN,
             AVOIDING_OBSTACLE,
         };
         
@@ -31,8 +31,8 @@
         void Initial();
         void Idle();
         void FollowingLine(); // takes in rotational velocity?
-        void LeftTurn_90();
-        void RightTurn_90();
+        void LeftTurn();
+        void RightTurn();
         void AvoidObstacle();
 
         //PID
@@ -41,9 +41,9 @@
         void PID_Delay(int ms);
         bool IsSharpTurn(int b);
 
-        const float k_prop = 3.0f;
-        const float k_int = 1.5f;
-        const float k_deriv = 0.0f;
+        const float k_prop = 2.5f;
+        const float k_int = 1.25f;
+        const float k_deriv = 1.0f;
 
         float previous_error_value;
         float integral_error;
@@ -51,7 +51,8 @@
         /* CONSTANTS */
 
         const float DISTANCE_THRESHOLD = 0.2f;        // minimum allowed distance to obstacle in [m]
-        const float TRANSLATIONAL_VELOCITY = 0.12f;    // translational velocity in [m/s]
+        const float TRANSLATIONAL_VELOCITY = 0.15f;   // translational velocity in [m/s]
+        const float ROTATIONAL_VELOCITY = 1.2f;       // rotational velocity in [rad/s]
         const float VELOCITY_THRESHOLD = 0.05;        // velocity threshold before switching off, in [m/s] and [rad/s]
 
         const float WHEEL_RADIUS = 0.0306f;
@@ -91,6 +92,10 @@
         Eigen::Vector2f wheel_speed_smooth;     // Wheel speeds limited and smoothed
         Eigen::Vector2f wheel_speed_actual;     // Measured wheel speeds
         Eigen::Vector2f robot_speed_actual;     // Measured robot speed
+
+        // tracking
+        float theta;
+        float target_theta;
 };
 
 #endif
\ No newline at end of file