mech
/
Line_Trace_Pro_NEW11
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Dependencies: mbed
Diff: main.cpp
- Revision:
- 2:fef6e8a45d71
- Parent:
- 1:f6b396987546
- Child:
- 3:55588b59ab29
--- a/main.cpp Mon Dec 17 12:03:51 2018 +0000
+++ b/main.cpp Thu Dec 20 02:56:43 2018 +0000
@@ -85,13 +85,13 @@
g = 500.0f;
dif1 = g - c1;
dif2 = g - c2;
- gain1 = 0.001f;
- gain2 = 0.001f;
+ gain1 = 0.0015f;
+ gain2 = 0.0015f;
pwm11.write(0.10f);
- pwm12.write(0.27f +dif1*gain1);
+ pwm12.write(0.30f +dif1*gain1);
pwm21.write(0.10f);
- pwm22.write(0.27f +dif2*gain2);
+ pwm22.write(0.30f +dif2*gain2);
break;
@@ -105,7 +105,7 @@
pwm11.write(0.30f + dif1*gain1);
pwm12.write(0.30f);
- pwm21.write(0.50f + dif2*gain2);
+ pwm21.write(0.80f + dif2*gain2);
pwm22.write(0.30f);
break;
@@ -116,9 +116,9 @@
gain1 = 0.0002f;
gain2 = 0.0002f;
- pwm11.write(0.50f + dif1*gain1);
+ pwm11.write(0.80f + dif1*gain1);
pwm12.write(0.30f);
- pwm21.write(0.20f);
+ pwm21.write(0.30f);
pwm22.write(0.30f + dif2*gain2);
break;
@@ -131,7 +131,7 @@
pwm11.write(0.00f);
pwm12.write(0.00f);
- pwm21.write(0.40f + dif2*gain2);
+ pwm21.write(0.70f + dif2*gain2);
pwm22.write(0.20f);
break;
@@ -142,7 +142,7 @@
gain1 = 0.0002f;
gain2 = 0.0002f;
- pwm11.write(0.40f + dif1*gain1);
+ pwm11.write(0.70f + dif1*gain1);
pwm12.write(0.20f);
pwm21.write(0.00f);
pwm22.write(0.00f);