Mukund Pandiri / Mbed 2 deprecated segway-balancing

self-balancing-robot

Dependencies:   mbed mbed-rtos Motor

Diff: main.cpp

Revision:
37:702943705f50
Parent:
36:e1bbf24a1b66
Child:
38:88be2aed48ba
--- a/main.cpp	Fri Apr 24 19:56:04 2020 +0000
+++ b/main.cpp	Fri Apr 24 19:57:25 2020 +0000
@@ -24,7 +24,7 @@
 ///////////////////////////// Control System Variables/////////////////////////
 ///////////////////////////////////////////////////////////////////////////////
 float rp = 30;
-float rd = 30;
+float rd = 10;
 float ri = 30;
 float desired_angle = 0;
 
@@ -159,7 +159,7 @@
         get_current_angle();
         
         angleMutex.lock();
-        speed = -1*(rp*pAngle + ri*iAngle + rd*dAngle)/(70 * 150 * 3);
+        speed = -1*(rp*pAngle + ri*iAngle + rd*dAngle)/(70 * 150 * 2);
         set_wheel_speed(speed); 
         angleMutex.unlock();