James MacLean / Robot_Control

The subsystem design/basis for the final project

Dependencies:   mbed-rtos mbed-src pixylib

Diff: global.h

Revision:
18:501f1007a572
Parent:
17:47e107f9587b
Child:
19:05b8123905fb
--- a/global.h	Sun Apr 03 19:00:21 2016 +0000
+++ b/global.h	Thu Apr 07 13:19:29 2016 +0000
@@ -10,7 +10,7 @@
 
 // Preprocessor Definitions
 // ----------------------------------------------------------------
-#define SPEED_MAX 30 // rads/s
+#define SPEED_MAX 40 // rads/s
 #define MAX_BLOCKS 1
 #define X_SETPOINT 160
 #define HEIGHT_SETPOINT 90
@@ -23,10 +23,10 @@
 #define MOTOR_KP 0.000120
 #define MOTOR_KI 0.0000001
 
-#define STEERING_KP 0.06
+#define STEERING_KP 0.10
 #define STEERING_KI 0
 
-#define SPEED_KP 0.4
+#define SPEED_KP 0.6
 #define SPEED_KI 0
 
 #define MOTOR_SAMPLES 300