Diff: NR_method_1.cpp

Revision:

12:56775c151fee

Parent:

11:1eee224b54d8

Child:

13:fb52c8d7f242

--- a/NR_method_1.cpp	Fri Nov 02 09:20:12 2018 +0000
+++ b/NR_method_1.cpp	Fri Nov 02 09:40:19 2018 +0000
@@ -57,8 +57,8 @@
 double Cxx = -35; // Goal position
 double Cyy = 27; // Goal position
 double Kp = 4;
-double Ki = 5;
-double Kd = 0.4;
+double Ki = 4.5;
+double Kd = 0.7;
 double Ts = 0.002;
 bool startCalc;
 bool calpos1;
@@ -148,11 +148,11 @@
         Cxx =x1;
         pc.printf("Moving in the x direction\n\r");
         if (dir == true) {
-            if(x1 > -46.3) {
+            if(x1 > -45.7) {
                 x1 = x1-4.2;
 
 
-            } else if ( x1 <= -46.3) {
+            } else if ( x1 <= -45.7) {
                 x1 =-17;
 
             } else {
@@ -162,7 +162,7 @@
                 x1 = x1+4.2;
 
             } else if ( x1 >= -17) {
-                x1 = -46.3;
+                x1 = -45.7;
             } else {
             }
         }
@@ -178,20 +178,20 @@
         Cyy=y1;
         pc.printf("Moving in the y direction\r\n");
         if(dir == true) {
-            if(y1 < 32.4) {
-                y1 = y1+4.2;
+            if(y1 < 31.7) {
+                y1 = y1+4.1;
                 //return y1;
-            } else if ( y1 >= 32.4) {
+            } else if ( y1 >= 31.7) {
                 y1 = 3;
                 //return y1;
             } else {
             }
         } else {
             if(y1 > 3) {
-                y1 = y1-4.2;
+                y1 = y1-4.1;
                 //return y1;
             } else if ( y1 <= 3) {
-                y1 = 32.4;
+                y1 = 31.7;
                 //return y1;
             } else {
             }