svoe
Dependencies: mbed mbed-STM32F103C8T6 MPU6050_1
Diff: common.h
- Revision:
- 20:e73f49ba5001
- Parent:
- 19:2fe650d29823
- Child:
- 22:14e85f2068c7
diff -r 2fe650d29823 -r e73f49ba5001 common.h --- a/common.h Sun Feb 24 11:02:56 2019 +0000 +++ b/common.h Sat Mar 23 16:38:44 2019 +0000 @@ -26,17 +26,26 @@ float azimuth; // rad [-pi;+pi] float speed; //m/s float path; //m - float omega; //rad/s + float omega; //rad/s + float accel; + float eps; + bool dir; }; coord current; coord target; +coord delta;//odin raz i vse (v analize obstacle) +coord max; +coord theor; -float balance_prop = 1.5; +//smotri da,max v system.h +float da; + +float balance_prop = 1.2; float balance_diff = 7; -float x_prop = 45;//45; -float x_diff = 45;//37; -float azimuth_prop = 40;//50; +float x_prop = 55;//45; +float x_diff = 55;//50; +float azimuth_prop = 40; float azimuth_diff = 10;//15; float coord_accuracy = 0.15; @@ -53,6 +62,8 @@ int fall_timer; int motion_timeout; int motion_mode; -#define stop 0; -#define go 1; -#define rotate 2; +#define STOP 0 +#define GO 2 +#define ROTATE 1 + +