Psi Swarm robot library version 0.9
Fork of PsiSwarmV9 by
Diff: settings.h
- Revision:
- 18:9204f74069b4
- Parent:
- 17:bf614e28668f
- Child:
- 19:3e3b03d80ea3
diff -r bf614e28668f -r 9204f74069b4 settings.h --- a/settings.h Sun Jun 04 13:11:09 2017 +0000 +++ b/settings.h Sun Jun 04 20:22:41 2017 +0000 @@ -34,13 +34,15 @@ /* USE_MOTOR_CALIBRATION [1=on, recommended 0=off] * If enabled, the actual motor speeds will be adjusted from the requested values using the motor calibration values stored in - * firmware (and set using the motor calibration code in the demo mode) + * firmware (and set using the motor calibration code in the demo mode). If calibration values not stall, will still offset + * motors if OFFSET_MOTORS is enable. */ #define USE_MOTOR_CALIBRATION 1 /* OFFSET_MOTORS [1=on, recommended 0=off] * The motors typically stall when the PWM output is below around 0.2 * Enabling the offset shifts the actual PWM range so that the motor speed 0.0 -> 1.0 actually sets a PWM output of 0.2 -> 1.0 + * If USE_MOTOR_CALIBRATION enable and calibration values for robot stored, OFFSET_MOTORS is ignored as offset is included in calibration */ #define OFFSET_MOTORS 1 @@ -96,8 +98,8 @@ /* DEBUG_OUTPUT_STREAM [1=PC\USB 2=BlueSmirf 4=Display]: Specify which output stream(s) should be used by default for debug messages, if enabled*/ #define DEBUG_OUTPUT_STREAM 1 -/* SELF_TEST_PERIOD [recommended = 10000]: Step time (in uS) for the quick self-test in the demo mode*/ -#define SELF_TEST_PERIOD 10000 +/* SELF_TEST_PERIOD [recommended = 20000]: Step time (in uS) for the quick self-test in the demo mode*/ +#define SELF_TEST_PERIOD 20000 /* SAMPLE_SIZE [recommended = 10]: Number of samples to take for the quick self-test in the demo mode*/ #define SAMPLE_SIZE 10