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This is some awesome robot code
Dependencies: mbed-rtos mbed QEI
Fork of ICRSEurobot13 by
Diff: globals.h
- Revision:
- 80:b9b5d5ecea71
- Parent:
- 77:8d83a0c00e66
- Parent:
- 79:0d3140048526
- Child:
- 84:00c799fd10a7
diff -r 3178a1e46146 -r b9b5d5ecea71 globals.h --- a/globals.h Mon Apr 15 17:07:40 2013 +0000 +++ b/globals.h Mon Apr 15 17:23:33 2013 +0000 @@ -16,10 +16,10 @@ const float TURRET_FWD_PLACEMENT = -0.042; //Robot movement constants -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 fwdvarperunit = 0.0001; //1 std dev = 7% //TODO: measrue this!! +const float varperang = 0.0003; //around 3 degree stddev per 180 turn //TODO: measrue this!! +const float xyvarpertime = 0.000025; //(very poorly) accounts for hitting things +const float angvarpertime = 0.0001; const float MOTORCONTROLLER_FILTER_K = 0.5;// TODO: tune this const float MOTOR_MAX_POWER = 0.5f;