DERPS
Dependencies: BMP280 BNO055_fusion PowerControl mbed
Fork of STRAIGHT_DRIVE_NO_SEP by
Diff: LOCOMOTION.h
- Revision:
- 35:68917796c30a
- Parent:
- 34:083073e54dbd
- Child:
- 36:dc69442c4c47
diff -r 083073e54dbd -r 68917796c30a LOCOMOTION.h --- 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);