Oskar Weigl / Mbed 2 deprecated ICRSEurobot13

This is some awesome robot code

Dependencies:   mbed-rtos mbed QEI

Fork of ICRSEurobot13 by Thomas Branch

Files at this revision

API Documentation at this revision

Revision 47:fc471218af95, committed 2013-04-12

Comitter:
madcowswe
Date:
Fri Apr 12 02:05:51 2013 +0000
Parent:
42:6504d85d85b4
Child:
48:254b124cef02
Commit message:
Bumped up motor control to 100Hz, not working for some unexplainable reason

Changed in this revision

globals.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/globals.h	Thu Apr 11 19:49:46 2013 +0000
+++ b/globals.h	Fri Apr 12 02:05:51 2013 +0000
@@ -18,7 +18,7 @@
 const float xyvarpertime = 0;//0.0005; //(very poorly) accounts for hitting things
 const float angvarpertime = 0;//0.001;
 
-const float MOTORCONTROLLER_FILTER_K = 0.5;// TODO: tune this
+const float MOTORCONTROLLER_FILTER_K = 0.8;// TODO: tune this
 const float MOTOR_MAX_POWER = 0.5f;
 
 /*

--- a/main.cpp	Thu Apr 11 19:49:46 2013 +0000
+++ b/main.cpp	Fri Apr 12 02:05:51 2013 +0000
@@ -76,7 +76,7 @@
     Thread updatethread(Kalman::updateloop, NULL, osPriorityNormal, 2084);
     
     Ticker motorcontroltestticker;
-    motorcontroltestticker.attach(MotorControl::motor_control_isr, 0.05);
+    motorcontroltestticker.attach(MotorControl::motor_control_isr, 0.01);
 
     // ai layer thread
     Thread aithread(AI::ailayer, NULL, osPriorityNormal, 2048);