Diff: main.cpp

Revision:

4:a041b7b5720b

Parent:

3:065a064b3453

Child:

5:477eaa33eff5

--- a/main.cpp	Tue Jul 21 06:35:34 2015 +0000
+++ b/main.cpp	Tue Jul 21 08:17:56 2015 +0000
@@ -2,8 +2,28 @@
 *
 *    @author: Baser Kandehir 
 *    @date: July 17, 2015
-*    @license: Use this code however you'd like
-*   
+*    @license: MIT license
+*     
+*   Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr
+*
+*   Permission is hereby granted, free of charge, to any person obtaining a copy
+*   of this software and associated documentation files (the "Software"), to deal
+*   in the Software without restriction, including without limitation the rights
+*   to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+*   copies of the Software, and to permit persons to whom the Software is
+*   furnished to do so, subject to the following conditions:
+*
+*   The above copyright notice and this permission notice shall be included in
+*   all copies or substantial portions of the Software.
+*
+*   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+*   IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+*   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+*   AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+*   LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+*   OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+*   THE SOFTWARE.
+*  
 *    @description of the program: 
 *    
 *    This a one axis gimbal control program that takes roll angle from an IMU 
@@ -43,7 +63,7 @@
 float Kp = 1;
 float Ki = 0; 
 float Kd = 0; 
-float set_point = -90;         // which angle camera should stay
+float set_point = -45;         // which angle camera should stay
 float errorMargin = 2;         // error margin in degress
 float proportional = 0;
 float last_proportional =0;