Diff: common.h

Branch:

svoe

Revision:

22:14e85f2068c7

Parent:

20:e73f49ba5001

Child:

23:bc05a104be10

--- a/common.h	Sat Mar 23 16:39:46 2019 +0000
+++ b/common.h	Tue Jul 23 12:55:23 2019 +0000
@@ -42,26 +42,33 @@
 float da;
 
 float balance_prop = 1.2;
-float balance_diff = 7;
-float x_prop = 55;//45;
-float x_diff = 55;//50;
+float balance_diff = 4;//4
+float balance_int = 5;
+float balance_integral;
+float x_prop = 45;//100;
+float x_diff = 45;//100;
+float x_int = 8;//3
+float x_integral;
+
 float azimuth_prop = 40;
 float azimuth_diff = 10;//15;
 
-float coord_accuracy = 0.15;
+float coord_accuracy = 0.04;
 bool coord_ready;
 
 bool fall_flag;
 
 float trajectory [10][3] = {{0,0,0},{0.2,0.2,pi/2},{0,0.4,pi},{-0.2,0.2,-pi/2},{0,0},{0.2,-0.2,-pi/2},{0,-0.4,-pi},{-0.2,-0.2,pi/2},{0,0,0}};
+float traj_1D [12] = {0,0.05,0,0.1,0,0.2,0,0.5,0,1,0,2};
 
 bool motion_flag;
-int delay_counter;
+int delay_counter;//задержка между шагами сервы
 int serva_counter;
 int delay2_counter;
 int fall_timer;
-int motion_timeout;
+//int motion_timeout;
 int motion_mode;
+int timeout_counter;
 #define STOP 0
 #define GO 2
 #define ROTATE 1