Diff: global.h

Revision:

6:52686c25e4af

Parent:

5:f655435d0782

Child:

7:5ef312aa2678

--- a/global.h	Fri Mar 25 13:36:14 2016 +0000
+++ b/global.h	Fri Mar 25 15:18:33 2016 +0000
@@ -1,7 +1,7 @@
 #include "mbed.h"
 #include "rtos.h"
 #include "Pixy.h"
-#include "PI.h"
+#include "PeriodicPI.h"
 
 // ----------------------------------------------------------------
 // Contains common defintions share between modes
@@ -9,21 +9,23 @@
 
 // Preprocessor Definitions
 // ----------------------------------------------------------------
+#define SPEED_MAX 10 // rads/s
 #define MAX_BLOCKS 1
+
 #define TARGET_DECIMAL 10 
 #define PWM_PERIOD 0.001
 #define MOTOR_PERIOD 0.001
 #define NAVIGATION_PERIOD 0.0167 // 60 times/sec
 
 #define MOTOR_KP 0.000120
-#define MOTOR_KI 0.0000000001
+#define MOTOR_KI 0.0000001
 
-#define STEERING_KP 0.01
-#define STEERING_KI 0.005
+#define STEERING_KP 0.02
+#define STEERING_KI 0.6
 
-#define SPEED_KP 0.01
-#define SPEED_KI 0.01
-#define SPEED_MAX 10
+#define SPEED_KP 0.02
+#define SPEED_KI 0.6
+
 
 // Global variables
 // ----------------------------------------------------------------
@@ -44,10 +46,10 @@
 extern Serial bt; // Bluetooth serial channel
 
 // Control
-extern PI leftMotorPi;
-extern PI rightMotorPi;
-extern PI targetHeightPi;
-extern PI targetXPi;
+extern PeriodicPI leftMotorPI;
+extern PeriodicPI rightMotorPI;
+extern PeriodicPI heightPI;
+extern PeriodicPI xPI;
 
 // Other
 extern PwmOut leftPwm;