Gal Yaroslavsky / MicroMouse-v1

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Dependencies:   L3GD20 LSM303DLHC mbed

Diff: Headers/PID.h

Revision:
3:1a8a7cc709cc
Parent:
2:997f57aee3b7
Child:
6:6e96e93689df
diff -r 997f57aee3b7 -r 1a8a7cc709cc Headers/PID.h
--- a/Headers/PID.h	Thu Apr 03 13:15:40 2014 +0000
+++ b/Headers/PID.h	Thu Apr 03 15:52:54 2014 +0000
@@ -3,7 +3,7 @@
 
 #define P_TERM 1
 #define I_TERM 0
-#define D_TERM 20
+#define D_TERM 40
 
 
 #include "Sensors.h"
@@ -19,6 +19,9 @@
 
 float PID(float right, float left)
 {
+    //right = log(right);
+    //left = log(left);
+    
     position = left - right; //accR - accL;
                 
     proportional = position;