DERPS
Dependencies: BMP280 BNO055_fusion PowerControl mbed
Fork of STRAIGHT_DRIVE_NO_SEP by
Diff: LOCOMOTION.h
- Revision:
- 34:083073e54dbd
- Parent:
- 33:baf24c59affc
- Child:
- 35:68917796c30a
diff -r baf24c59affc -r 083073e54dbd LOCOMOTION.h --- a/LOCOMOTION.h Wed Apr 20 16:11:08 2016 +0000 +++ b/LOCOMOTION.h Wed Apr 20 18:25:43 2016 +0000 @@ -9,9 +9,9 @@ #define SPEED_TURN_MAX 0.60//0.45 #define Y_BIAS_MIN 0.75 #define Y_BIAS_MAX 1.00 -#define SPEED_X_MIN 0.10 -#define SPEED_X_MAX 0.35 -#define GAIN_GRAVITY 0.75 +#define SPEED_X_MIN 0.15 +#define SPEED_X_MAX 0.25 +#define GAIN_GRAVITY 0.5 #define M_PI 3.1415926535897932384 #define X_STOP 0 @@ -28,7 +28,7 @@ #define Y_INCREMENT 7 #define FRAME_HE 180 #define ROB_SIZE 34 -#define TILTZZ 5 +#define TILTZZ -5 enum { ANGLE_TURN = 0,