Chris LU / Mbed 2 deprecated Nucleo_ZTC_20160607_oldest

code of robot bike

Dependencies:   SDFileSystem mbed

Fork of Robot_Bicycle by Chris LU

Diff: ZTC.cpp

Revision:
8:79ca11e0129d
Parent:
3:197b748a397a
Child:
10:3b952ea7fad4
--- a/ZTC.cpp	Sun Jul 10 09:41:33 2016 +0000
+++ b/ZTC.cpp	Mon Jul 18 03:31:39 2016 +0000
@@ -7,7 +7,8 @@
 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};///{0.037165*6.0, 0.026747*6.0, -0.020436*6.0};///
+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;
 float phi_hat_old = 0.0;