Diff: LOCOMOTION.h

Revision:

35:68917796c30a

Parent:

34:083073e54dbd

Child:

36:dc69442c4c47

--- a/LOCOMOTION.h	Wed Apr 20 18:25:43 2016 +0000
+++ b/LOCOMOTION.h	Sun Apr 24 22:37:07 2016 +0000
@@ -5,12 +5,12 @@
 #include "LOCALIZE.h"
 #include "math.h"
  
-#define SPEED_TURN_MIN  0.35//0.15
-#define SPEED_TURN_MAX  0.60//0.45
-#define Y_BIAS_MIN      0.75
+#define SPEED_TURN_MIN  0.20//0.15
+#define SPEED_TURN_MAX  0.35//0.45
+#define Y_BIAS_MIN      0.95
 #define Y_BIAS_MAX      1.00
-#define SPEED_X_MIN     0.15
-#define SPEED_X_MAX     0.25
+#define SPEED_X_MIN     0.15//0.65//0.15
+#define SPEED_X_MAX     0.25//0.75//0.25
 #define GAIN_GRAVITY    0.5
 #define M_PI            3.1415926535897932384
  
@@ -52,7 +52,7 @@
     DigitalOut _led4;
     void eStop(void);
     void mStop(void);
-    bool setXPos(int target, int current, int error, int angle);
+    bool setXPos(int target, int current, int error, int angle, int curr_angle);
     bool setYBias(int target, int current, int error, int angle);
     bool setAngle(int target, int current, int error, int mode);