Diff: variables.h

Revision:

3:1cd8d048cd4a

Parent:

0:b0a79a3a9da8

Child:

4:1643fea75703

--- a/variables.h	Fri Jun 15 17:04:46 2018 +0000
+++ b/variables.h	Tue Jun 19 16:47:15 2018 +0000
@@ -17,14 +17,14 @@
 float MotorSpeedPwmTemp(0);  //motor speed pwm (initial is 0)
 float MotorSpeedPwm(0);  //motor speed pwm (initial is 0)
 int MinMotorPwm(1);  //min pwm for the motor to start
-int MinMotorSpeed(10);  //min motor speed
+int MinMotorSpeed(1300);  //min motor speed
 int MaxMotorSpeed(100000);  //max motor speed
 float WheelToMotorRatio;  //set the ideal ratio between wheel speed and motor speed
 //float ReductionRatio(24);
 float MotorCorrection(1.0);  //set the initial motor correction factor
 int MotorSensorSecurityCheck(0);  //set the initial motor correction factor
 float DecelerationControlRatio(1.5);  //ratio to control wheel decelaration accepted limit
-const int ConstArrayIns(3);  //the number set the array values
+const int ConstArrayIns(4);  //the number set the array values
 CB1<int,ConstArrayIns> ReadWheelArray;  //Circular array (for LIFO purposes) for wheel sensor readings
 CB1<int,ConstArrayIns> ReadMotorArray;  //Circular array (for LIFO purposes) for wheel sensor readings
 int i;  //general purpose integer for loops
@@ -35,7 +35,7 @@
 unsigned long ElapsedM(0);  //used to take note of Elapsed time
 unsigned long CheckIfReadMChanges(0);  //feedback of motor sensor
 //from PID library: 0.0 - 1.0
-PID motorPID(1.0, 0.2, 0.4, 0.1);  //Kc, Ti, Td, interval (0.1ms)
+PID motorPID(1.0, 0.4, 0.3, 0.3);  //Kc, Ti, Td, interval (0.1ms)
 
 //the below declarations are meant to prevent problems on switches due to tractor vibrations
 int VibrationTimer(500);  //timer for avoid vibrations in millis