First trial
Dependencies: MPU6050 Motor ledControl2 mbed
Fork of BalancingRobotPS3 by
Diff: BalancingRobot.h
- Revision:
- 1:01295228342f
- Parent:
- 0:f5c02b620688
- Child:
- 2:caec5534774d
diff -r f5c02b620688 -r 01295228342f BalancingRobot.h --- a/BalancingRobot.h Tue Feb 14 10:48:01 2012 +0000 +++ b/BalancingRobot.h Tue Feb 14 18:31:05 2012 +0000 @@ -53,6 +53,7 @@ double Ki = 2; double Kd = 12; double targetAngle = 90; +double lastTargetAngle; double lastError; double iTerm;