Diff: global.h

Revision:

19:05b8123905fb

Parent:

18:501f1007a572

--- a/global.h	Thu Apr 07 13:19:29 2016 +0000
+++ b/global.h	Mon Apr 24 21:37:50 2017 +0000
@@ -10,27 +10,29 @@
 
 // Preprocessor Definitions
 // ----------------------------------------------------------------
-#define SPEED_MAX 40 // rads/s
+#define SPEED_MAX 2 // rads/s
 #define MAX_BLOCKS 1
 #define X_SETPOINT 160
-#define HEIGHT_SETPOINT 90
-#define TARGET_DECIMAL 10 
+#define HEIGHT_SETPOINT 120
+#define TARGET_DECIMAL 1 
+
+// #define DEBUG 1
 
 #define PWM_PERIOD 0.001
-#define MOTOR_PERIOD 0.001
+#define MOTOR_PERIOD 0.01
 #define NAVIGATION_PERIOD 0.0167 // 60 times/sec
 
-#define MOTOR_KP 0.000120
-#define MOTOR_KI 0.0000001
+#define MOTOR_KP 0.0001 // 0.0001
+#define MOTOR_KI 0.0005 // 0.0001 //0.00001 //0.0000001
 
 #define STEERING_KP 0.10
 #define STEERING_KI 0
 
-#define SPEED_KP 0.6
+#define SPEED_KP 0.1
 #define SPEED_KI 0
 
 #define MOTOR_SAMPLES 300
-#define NAVIGATION_SAMPLES 240
+#define NAVIGATION_SAMPLES 200
 
 
 // Global variables
@@ -59,8 +61,7 @@
 // Other
 extern PwmOut leftPwm; 
 extern PwmOut rightPwm; 
-extern InterruptIn bumper;  // External interrupt pin declared as Bumper
 
 // Method prototypes
-char flushBuffer(void);
-float QE2RadsPerSec(short counts, short time);
\ No newline at end of file
+void FlushBuffer(void);
+float RadsPerSec(short counts, short time);
\ No newline at end of file