自己位置推定機能を追加
Dependencies: SBDBT arrc_mbed BNO055
Diff: PIDco.cpp
- Revision:
- 2:e189d55ef292
- Parent:
- 1:ea880e226e5a
diff -r ea880e226e5a -r e189d55ef292 PIDco.cpp --- a/PIDco.cpp Thu Jan 20 07:27:53 2022 +0000 +++ b/PIDco.cpp Fri Jan 28 15:12:04 2022 +0000 @@ -1,7 +1,7 @@ #include "PIDco.hpp" PIDco::PIDco(){ - spd = 0.0; + spd = 0.0; Pwm = 0.0; dt = 0.05; Integral = 0.0; @@ -31,8 +31,8 @@ PwmOut v1p(PIN_A); PwmOut v1m(PIN_B); - v1p.period_us(2048); - v1m.period_us(2048); + v1p.period_us(1024); + v1m.period_us(1024); cal_spd(); cal_Error();