Diff: main.cpp

Revision:

11:1b34319671eb

Parent:

10:b6bf86de613f

Child:

12:273479524c71

--- a/main.cpp	Mon Apr 27 16:56:49 2015 +0000
+++ b/main.cpp	Mon Apr 27 18:10:52 2015 +0000
@@ -66,7 +66,7 @@
 #include "TrollingMotor.h"
 
 #define VOLT_MULT  (3.3f / (0.810f / (3.3f + 0.810f)))  //voltage divider 3.3k and 810 (VREF = 3.3V) keeps 12V measurements below 3.3V
-#define RATIO_TOLERANCE     0.02f
+#define RATIO_TOLERANCE     0.02f                       //How close the difference between the set ratio and current ratio before consider
 #define MIN_RATIO           0.04f                       //Actuator hits retract limit swithc at 2.2%
 #define MAX_RATIO           0.85f                       //Actuator hits extend limit switch at 87.6%
 #define CENTER_RATIO        0.29f                       //Ratio where prop is centered
@@ -78,7 +78,7 @@
 #define GPS_POLL        0.5f
 #define GPS_ALPHA       0.3f                            //GPS low pass alpha
 
-#define RATE            0.3f
+#define RATE            0.3f                            //period of heading PID loop
 #define headKc          1.0f                            //directly proportional
 #define headTi          0.0f                            //a larger number makes the integral have less affect on the output
 #define headTd          0.0f                            //a smaller number makes the derivative have less affect on the output