svoe
Dependencies: mbed mbed-STM32F103C8T6 MPU6050_1
Diff: common.h
- Branch:
- svoe
- Revision:
- 22:14e85f2068c7
- Parent:
- 20:e73f49ba5001
- Child:
- 23:bc05a104be10
diff -r 578efa8f7c37 -r 14e85f2068c7 common.h --- 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