Diff: Controller.h

Revision:

8:82e38f4aa690

Parent:

6:a4440eec3652

--- a/Controller.h	Wed Nov 02 15:40:15 2016 +0000
+++ b/Controller.h	Mon Nov 07 11:29:28 2016 +0000
@@ -7,7 +7,7 @@
 //HIDScope scope(2);
 
 int xPulses = 0; // pulsecount
-const int x_max = 30068;// 30068;
+const int x_max = 31068;// 30068;
 int yPulses = 0;
 const int y_max = 15003;
 int prevXpulses = 0;
@@ -24,6 +24,7 @@
 float X_frictionTrheshold = 0.04;
 float Y_frictionTrheshold = 0.04; 
 float sensitivityFactor = 0.2; // determines treshold value for contraction, value between 0 and 1
+float calibrationSpeed = 0.4; // [0,1], determines how fast the system returns to (0,0) when the button is pressed
 
 const float R1 = 0.085; // radius of big driven gear in m
 const float RmX = 0.012; // radius of small drive gear in m   
@@ -55,8 +56,8 @@
 void initControllers();
 void initMotors();
 
-const float KcX = 0.0358; // THIS IS THE LIMIT FOR STABILITY
-const float KcY = 0.366;
+const float KcX = 0.02058; // THIS IS THE LIMIT FOR STABILITY
+const float KcY = 0.02066;
 const float Ti = 0.0;
 const float Td = 0.0;
 const float RATE = 0.002; // rate = interval motors will be updateed