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.h

Revision:
4:b0967990e390
Parent:
3:197b748a397a
Child:
6:bd469c945e41
--- a/ZTC.h	Wed Jun 22 04:35:18 2016 +0000
+++ b/ZTC.h	Wed Jul 06 06:54:15 2016 +0000
@@ -4,8 +4,8 @@
 #include "mbed.h"
 #include "SensorFusion.h"
 
-#define GAMMA_OFFSET    3.0 / 180.0 * 3.14159
-#define L_PD_OFFSET     7.0 / 180.0 * 3.14159
+#define GAMMA_OFFSET    1.0 / 180.0 * 3.14159
+#define L_PD_OFFSET     3.0 / 180.0 * 3.14159
 #define DLT_GAMMA_REF   6.0 / 180.0 * 3.14159
 
 #define PHI_HAT_UB  0.1745f