Mateusz Grzywacz / Yellow2WheeledRobot_motor_shield

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

YellowMotors.cpp

Committer:
amateusz
Date:
2016-02-03
Revision:
0:85e85976c650
Child:
2:6f6e591f1838

File content as of revision 0:85e85976c650:

#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;
}