servodisc goodness
Diff: main.cpp
- Revision:
- 8:25a28a2ac486
- Parent:
- 6:1143996ac690
- Child:
- 9:61f214b91751
--- a/main.cpp Mon Jan 15 16:12:52 2018 +0000 +++ b/main.cpp Mon Jan 22 14:33:17 2018 +0000 @@ -142,7 +142,7 @@ { ; } - wait(0.5f); + wait(0.05f); printf("done.\r\n"); } @@ -291,8 +291,8 @@ //q_ref = 0.0f; if(run_control == 0){ - e = 0; - //e = 40.0f*(q_ref - q) + .2f*(0.0f-dq); + //e = 0; + e = 100.0f*(q_ref - q) + .25f*(0.0f-dq); } if(run_control&(abs(q_ref - q))<.05f){ printf("control done\n\r");}