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code of robot bike
Dependencies: SDFileSystem mbed
Fork of Robot_Bicycle by
Diff: ZTC.cpp
- Revision:
- 10:3b952ea7fad4
- Parent:
- 8:79ca11e0129d
- Child:
- 11:45a641da473d
--- a/ZTC.cpp Mon Jul 18 09:36:16 2016 +0000 +++ b/ZTC.cpp Mon Jul 18 12:12:50 2016 +0000 @@ -7,7 +7,7 @@ float K_l[3] = {2143.8, 0.0, 0.0}; float K_s[3] = {0,0,0}; float K_hphi[3] = {0.100359*3.0, 0.034599*3.0, -0.05653*3.0};///{10.0359, 3.4599, -5.653};/// -//float K_mphi[3]= {3.7165*0.03, 2.6747*0.03, -2.0436*0.03};///{0.037165*6.0, 0.026747*6.0, -0.020436*6.0};/// +//float K_mphi[3]= {3.7165*0.03, 2.6747*0.03, -2.0436*0.03}; float K_mphi[3]= {6.3409*0.03, 4.1028*0.03, -5.0338*0.03}; float u = 0.0; float phi_hat = 0.0;