Lakshmanan Gopalakrishnan / Mbed 2 deprecated Balancing_Robot_2

First trial

Dependencies:   MPU6050 Motor ledControl2 mbed

Fork of BalancingRobotPS3 by Kristian Lauszus

Diff: BalancingRobot.h

Revision:
7:f1d24c6119ac
Parent:
5:fc6c7a059759
Child:
8:87dd9d5f7001
--- a/BalancingRobot.h	Tue Mar 06 22:38:41 2012 +0000
+++ b/BalancingRobot.h	Mon Apr 09 21:40:47 2012 +0000
@@ -46,7 +46,7 @@
 
 /* PID variables */
 double Kp = 8; //11 - 7
-double Ki = 2; //2
+double Ki = 2; //1
 double Kd = 9; //12
 double targetAngle = 90;
 
@@ -86,7 +86,7 @@
 
 double targetOffset = 0;
 
-uint8_t loopCounter = 0; // Used for wheel velocity
+uint8_t loopCounter = 0; // Used for wheel velocity and battery voltage
 long wheelPosition;
 long lastWheelPosition;
 long wheelVelocity;