Clark Lin
Diff: main.cpp
- Revision:
- 15:3fa780990a6a
- Parent:
- 14:5cc3e028d8a3
- Child:
- 16:7ada30380595
--- a/main.cpp Mon Jun 30 02:26:43 2014 +0000
+++ b/main.cpp Mon Jun 30 02:54:45 2014 +0000
@@ -146,7 +146,7 @@
b_r_c=(double)cam.black_centerR();
pc.printf("b_r_c: %lf\r\n",b_r_c);
- PID_v=cam_to_M_ctrlr.compute(200,b_r_c,20.0);//set_angle()
+ PID_v=cam_to_M_ctrlr.compute(b_r_c,200,20.0);//set_angle()
pc.printf("angle: %f\r\n",PID_v);
//pc.printf("%f %d %d speed :%f bk_center %f PID:%f \r\n",cam_to_M_ctrlr.de_v,cam.de_v,cam.de_v2,motor,b_r_c,PID_v);
//b_r_c range 0~128
@@ -168,7 +168,7 @@
last_error = error;
- servo.set_angle(PID_v);
+ servo.set_angle(0.05);