Diff: common.h

Revision:

13:789b451cc27d

Parent:

12:721a9ea55e91

Child:

14:e12d0fdc3a48

--- a/common.h	Sat Nov 03 11:43:03 2018 +0000
+++ b/common.h	Sun Nov 11 09:20:35 2018 +0000
@@ -17,21 +17,27 @@
 float const ppr = 3200;//pulses per revolution
 
 struct coord{
-float x; //m
-float y; //m
+float x; //m //vpered
+float y; //m //vpravo
 float azimuth; // rad
 float speed; //m/s
 float path; //m
-float angular_speed; //rad/s    
+float omega; //rad/s    
 };
 
 coord current;
 coord target;
 
-float balance_prop = 0.8;
-float balance_diff = 1.2;
-float x_prop = 40;
-float x_diff = 25;
-float azimuth_prop = 0.8;
-float azimuth_diff = 0.65;
+float balance_prop = 160;
+float balance_diff = 7;
+float x_prop = 18;
+float x_diff = 20;
+float azimuth_prop = 10;
+float azimuth_diff = 5;
+float azimuth_corr = 0;
 
+float coord_accuracy = 0.05;
+bool ready;
+
+float trajectory [9][2] = {{0,0},{0.2,0.2},{0.2,0.2},{0,0},{0.2,0},{-0.2,0},{0,0},{0,0.2},{0,0}};
+