Diff: main.cpp

Revision:

7:c94070f9af78

Parent:

6:afde4b08166b

Child:

8:109314be5b68

--- a/main.cpp	Fri Mar 24 17:39:24 2017 +0000
+++ b/main.cpp	Fri Mar 24 18:02:57 2017 +0000
@@ -12,13 +12,14 @@
     pc.baud(9600); // baud for the pc communication
 
     //Target example x,y values
-    float target_x=46.8, target_y=78.6, target_angle=0;
+    float target_x=46.8, target_y=78.6, target_angle=1.7;
 
     float alpha; //angle error
     float rho; //distance from target
     float beta;
     //float k_linear=10, k_angular=200;
-    float kRho=12, ka=25, kb=-15;
+    //kb = -15  and ka = 30 tabom
+    float kRho=12, ka=30, kb=-13;
     float linear, angular, angular_left, angular_right;
     float dt=0.5;
     float temp;
@@ -102,10 +103,10 @@
         leftMotor(1,angular_left);
         rightMotor(1,angular_right);
 
-        wait(0.5);
+        wait(0.2);
         //Timer stuff
         t.stop();
-    } while(d2>2);
+    } while(d2>1);
 
     //Stop at the end
     leftMotor(1,0);