小林 励のロボット
Dependencies: PID R1370 wheelUnit states Controller ikarashiMDC omni_wheel
Revision 3:fb27330d8a54, committed 2019-07-11
- Comitter:
- THtakahiro702286
- Date:
- Thu Jul 11 09:20:23 2019 +0000
- Parent:
- 2:27ba304c2348
- Commit message:
- start work together neko
Changed in this revision
diff -r 27ba304c2348 -r fb27330d8a54 libs/pin_config.h --- a/libs/pin_config.h Wed Jul 10 08:02:18 2019 +0000 +++ b/libs/pin_config.h Thu Jul 11 09:20:23 2019 +0000 @@ -24,12 +24,12 @@ #define STOP PA_7 /*PID*/ -const float KP = 5.5; //速さ +const float KP = 10; //速さ const float KI = 5.0; //揺れすぎたら大きく、動かな過ぎたら小さく const float KD = 0.0000005; //ずらしたときに戻る力 がでかすぎたら小さく、小さすぎたら大きく -const float minLimit = -1.0; //逆回転速度の最大値 -const float maxLimit = 1.0; //回転速度の最大値 +const float minLimit = -1; //逆回転速度の最大値 +const float maxLimit = 1; //回転速度の最大値 /*モーター速度*/ -const float SPEEDRATE = 1.0; +const float SPEEDRATE = 0.7; #endif
diff -r 27ba304c2348 -r fb27330d8a54 libs/states.lib --- a/libs/states.lib Wed Jul 10 08:02:18 2019 +0000 +++ b/libs/states.lib Thu Jul 11 09:20:23 2019 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/users/THtakahiro702286/code/states/#38dd7564c15f +https://os.mbed.com/users/THtakahiro702286/code/states/#2b909340be04
diff -r 27ba304c2348 -r fb27330d8a54 libs/wheelUnit.lib --- a/libs/wheelUnit.lib Wed Jul 10 08:02:18 2019 +0000 +++ b/libs/wheelUnit.lib Thu Jul 11 09:20:23 2019 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/users/THtakahiro702286/code/wheelUnit/#3c9eaf598f21 +https://os.mbed.com/users/THtakahiro702286/code/wheelUnit/#9017bbe177b7
diff -r 27ba304c2348 -r fb27330d8a54 main.cpp --- a/main.cpp Wed Jul 10 08:02:18 2019 +0000 +++ b/main.cpp Thu Jul 11 09:20:23 2019 +0000 @@ -1,12 +1,4 @@ -#include "mbed.h" +//#include "mbed.h" #include "states.h" - States state; - -int main() -{ - while(1) - { - state.move(); - } -} \ No newline at end of file +int main(){while(1){state.move();}} \ No newline at end of file