Diff: ReceiverIR.cpp

Revision:

15:b56a97811380

Parent:

14:2fafd2e7dea8

Child:

16:3922b10d4606

diff -r 2fafd2e7dea8 -r b56a97811380 ReceiverIR.cpp
--- a/ReceiverIR.cpp	Wed Jun 05 18:39:46 2019 +0000
+++ b/ReceiverIR.cpp	Thu Jun 06 11:16:22 2019 +0000
@@ -18,9 +18,9 @@
     evt.rise(this, &ReceiverIR::isr_rise);
     evt.mode(PullUp);
     ticker.attach_us(this, &ReceiverIR::isr_wdt, 10 * 1000);    
-    Speed_L = 0.95 ;
+    Speed_L = 0.45 ;
     //Speed_R = _speed *1.005;
-    Speed_R = 0.945 ; 
+    Speed_R = 0.445 ; 
     init_sp_l = Speed_L;
     init_sp_r = Speed_R;
 }
@@ -133,7 +133,7 @@
 //        Speed_L = 0.5;
 //    }
 //    pwma = Speed_L;
-    kp += 0.5;
+    max += 5;
 }
 void ReceiverIR::speeddown_l(void){
     //Speed_L -= 0.0005;
@@ -141,7 +141,7 @@
 //        Speed_L = 0;
 //    }
 //    pwma = Speed_L;
-    kp -= 0.5;
+    max -= 5;
 }
 void ReceiverIR::speedup_r(void){
    // Speed_R += 0.0005; 
@@ -151,7 +151,7 @@
 //    pwmb = Speed_R;
 
     //max += 5;
-    kd += 1;
+    ki += 500;
 }
 void ReceiverIR::speeddown_r(void){
 //    Speed_R -= 0.0005;
@@ -161,7 +161,7 @@
 //    pwmb = Speed_R;
     
     //max -= 5;
-    kd -= 1;
+    ki -= 500;
 }
 
 void ReceiverIR::speed_l(float sp_l){