Rauno U
/
Miisu
Six crescent shaped legs
Diff: main.cpp
- Revision:
- 7:8dcdb39efc0e
- Parent:
- 6:9f9047ca4a89
- Child:
- 8:c3af2a1c206c
--- a/main.cpp Tue Mar 29 15:40:15 2016 +0000 +++ b/main.cpp Tue Mar 29 16:04:03 2016 +0000 @@ -1,17 +1,19 @@ #include "mbed.h" #include "EncoderMotor.hpp" #include "PIDController.hpp" +#include "LerpSmoother.hpp" InterruptIn bt(USER_BUTTON); Serial pc(USBTX, USBRX); SpeedEncoder e(PA_0, PA_1); +LerpSmoother speedSmoother(0.3f); //PIDController ec(0.2, 0.1, 0.01); PIDController ec(0.3, 2.0, 0.02); //PIDController ec(0.75, 2.0, 0.015); //PIDController ec(0.8, 1.5, 0.017); PIDController ecRot(5.0, 0.1, 0.04); -EncoderMotor m(PB_0, PC_1, PC_0, e, ec, ecRot); +EncoderMotor m(PB_0, PC_1, PC_0, e, speedSmoother, ec, ecRot); //Motor m(PB_0, PC_1, PC_0); void rise()