Dima Dudin / Mbed 2 deprecated DD_Robot

svoe

Dependencies:   mbed mbed-STM32F103C8T6 MPU6050_1

Diff: common.h

Revision:
14:e12d0fdc3a48
Parent:
13:789b451cc27d
Child:
15:960b922433d1
--- a/common.h	Sun Nov 11 09:20:35 2018 +0000
+++ b/common.h	Sun Nov 18 13:33:28 2018 +0000
@@ -19,7 +19,7 @@
 struct coord{
 float x; //m //vpered
 float y; //m //vpravo
-float azimuth; // rad
+float azimuth; // rad [-pi;+pi]
 float speed; //m/s
 float path; //m
 float omega; //rad/s    
@@ -30,13 +30,13 @@
 
 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 x_prop = 40;//18;
+float x_diff = 35;//20;
+float azimuth_prop = 15;
+float azimuth_diff = 8;
+//float azimuth_corr = 0;
 
-float coord_accuracy = 0.05;
+float coord_accuracy = 0.1;
 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}};