Diff: globals.h

Revision:

49:665bdca0f2cd

Parent:

47:fc471218af95

Child:

50:937e860f4621

--- a/globals.h	Fri Apr 12 17:03:53 2013 +0000
+++ b/globals.h	Fri Apr 12 21:07:00 2013 +0000
@@ -13,12 +13,12 @@
 const float TURRET_FWD_PLACEMENT = -0.042;
 
 //Robot movement constants
-const float fwdvarperunit = 0.01; //1 std dev = 7% //TODO: measrue this!!
-const float varperang = 0.0002; //around 1 degree stddev per 180 turn //TODO: measrue this!!
-const float xyvarpertime = 0;//0.0005; //(very poorly) accounts for hitting things
-const float angvarpertime = 0;//0.001;
+const float fwdvarperunit = 0.001; //1 std dev = 7% //TODO: measrue this!!
+const float varperang = 0.0005; //around 3 degree stddev per 180 turn //TODO: measrue this!!
+const float xyvarpertime = 0.0001; //(very poorly) accounts for hitting things
+const float angvarpertime = 0.001;  
 
-const float MOTORCONTROLLER_FILTER_K = 0.8;// TODO: tune this
+const float MOTORCONTROLLER_FILTER_K = 0.5;// TODO: tune this
 const float MOTOR_MAX_POWER = 0.5f;
 
 /*