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
diff -r 5ef312aa2678 -r 2d609d465f00 global.h --- 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