Diff: main.cpp

Revision:

5:dea05b8f30d0

Parent:

4:8c56c3ba6e54

Child:

6:afde4b08166b

--- a/main.cpp	Fri Mar 24 16:30:30 2017 +0000
+++ b/main.cpp	Fri Mar 24 16:38:58 2017 +0000
@@ -17,7 +17,7 @@
     float rho; //distance from target
     float beta;
     //float k_linear=10, k_angular=200;
-    float kRho=3, ka=8, kb=-2;
+    float kRho=1, ka=8, kb=-2;
     float linear, angular, angular_left, angular_right;
     float dt=0.5;
     float temp;
@@ -46,8 +46,8 @@
         alpha = atan2((target_y-Y),(target_x-X))-theta;
         alpha = atan(sin(alpha)/cos(alpha));
         rho = dist(X, Y, target_x, target_y);
-        beta = -alpha-theta;
-        //beta = -alpha-theta+target_angle;
+        //beta = -alpha-theta;
+        beta = -alpha-theta+target_angle;
 
         //Computing angle error and distance towards the target value
         rho += dt*(-kRho*cos(alpha)*rho);