Mateusz Grzywacz / Yellow2WheeledRobot_motor_shield

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Diff: YellowMotors.cpp

Revision:
0:85e85976c650
Child:
2:6f6e591f1838
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/YellowMotors.cpp	Wed Feb 03 16:09:07 2016 +0000
@@ -0,0 +1,13 @@
+#include <math.h>
+
+float motorLinearizationL(float desired)
+{
+    return (6.6691*(exp(0.0249053*(desired*100))+2.92508))/100.0;
+}
+
+float motorLinearizationR(float desired)
+{
+    return 4.096509*(exp(0.0286952296*(desired*100))+5.073644964)/100.0; // \/ history of trial and error
+    //return 5.9693939*(exp(0.0251906*(desired*100))+3.162519)/100.0; // that wasn't that bad at all! to early start, the rest ok
+    //return (3.45183*(exp(0.0292461*(desired*100))+5.51727))/100.0;
+}
\ No newline at end of file