hirromu takaki / Mbed OS kobayashi_rei

小林　励のロボット

Dependencies:   PID R1370 wheelUnit states Controller ikarashiMDC omni_wheel

Files at this revision

API Documentation at this revision

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

libs/pin_config.h Show annotated file Show diff for this revision Revisions of this file
libs/states.lib Show annotated file Show diff for this revision Revisions of this file
libs/wheelUnit.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- 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

--- 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

--- 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

--- 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