Diff: LOCOMOTION.h

Revision:

36:dc69442c4c47

Parent:

35:68917796c30a

Child:

37:e8a6ea255c09

--- a/LOCOMOTION.h	Sun Apr 24 22:37:07 2016 +0000
+++ b/LOCOMOTION.h	Mon Apr 25 17:47:51 2016 +0000
@@ -9,8 +9,8 @@
 #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//0.65//0.15
-#define SPEED_X_MAX     0.25//0.75//0.25
+#define SPEED_X_MIN     0.70//0.15
+#define SPEED_X_MAX     0.90//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, int curr_angle);
+    bool setXPos(int target, int current, int error, int angle);
     bool setYBias(int target, int current, int error, int angle);
     bool setAngle(int target, int current, int error, int mode);