James MacLean / Robot_Control

The subsystem design/basis for the final project

Dependencies:   mbed-rtos mbed-src pixylib

Diff: global.h

Revision:
14:2d609d465f00
Parent:
7:5ef312aa2678
Child:
15:caa5a93a31d7
--- a/global.h	Fri Mar 25 19:34:16 2016 +0000
+++ b/global.h	Sat Mar 26 17:52:34 2016 +0000
@@ -9,7 +9,7 @@
 
 // Preprocessor Definitions
 // ----------------------------------------------------------------
-#define SPEED_MAX 10 // rads/s
+#define SPEED_MAX 40 // rads/s
 #define MAX_BLOCKS 1
 
 #define TARGET_DECIMAL 10 
@@ -20,11 +20,11 @@
 #define MOTOR_KP 0.000120
 #define MOTOR_KI 0.0000001
 
-#define STEERING_KP 0.01
-#define STEERING_KI 0.1
+#define STEERING_KP 0.06
+#define STEERING_KI 0
 
-#define SPEED_KP 0.2
-#define SPEED_KI 0.6
+#define SPEED_KP 0.4
+#define SPEED_KI 0
 
 
 // Global variables