Oskar Weigl / Mbed 2 deprecated ICRSEurobot13

This is some awesome robot code

Dependencies:   mbed-rtos mbed QEI

Fork of ICRSEurobot13 by Thomas Branch

Diff: Processes/Motion/motion.cpp

Revision:
54:99d3158c9207
Parent:
52:bffe5f7c39a3
Child:
57:d434ceab6892
--- a/Processes/Motion/motion.cpp	Fri Apr 12 18:22:53 2013 +0000
+++ b/Processes/Motion/motion.cpp	Fri Apr 12 20:58:59 2013 +0000
@@ -86,11 +86,11 @@
     
     
     // forward velocity controller
-    const float p_gain_fv = 0.5; //TODO: tune
+    const float p_gain_fv = 0.25; //TODO: tune
     
     float max_fv = 0.2; // meters per sec //TODO: tune
     float max_fv_reverse = 0.05; //TODO: tune
-    const float angle_envelope_exponent = 32.0; //8.0; //TODO: tune
+    const float angle_envelope_exponent = 512;//32.0; //8.0; //TODO: tune
     
     // control, distance_err in meters
     float forward_v = p_gain_fv * distance_err;