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:
6:bd469c945e41
Parent:
4:b0967990e390
--- a/ZTC.h	Wed Jul 06 13:22:03 2016 +0000
+++ b/ZTC.h	Sun Jul 10 06:23:02 2016 +0000
@@ -5,7 +5,7 @@
 #include "SensorFusion.h"
 
 #define GAMMA_OFFSET    1.0 / 180.0 * 3.14159
-#define L_PD_OFFSET     3.0 / 180.0 * 3.14159
+#define L_PD_OFFSET     5.0 / 180.0 * 3.14159
 #define DLT_GAMMA_REF   6.0 / 180.0 * 3.14159
 
 #define PHI_HAT_UB  0.1745f