Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

Diff: src/motor.cpp

Revision:
53:978b7fa74080
Parent:
50:510ce69c2a10
diff -r 0982adf6ba63 -r 978b7fa74080 src/motor.cpp
--- a/src/motor.cpp	Mon Dec 02 00:00:01 2013 +0000
+++ b/src/motor.cpp	Mon Dec 02 05:16:26 2013 +0000
@@ -10,9 +10,11 @@
     
     pos=0;
     
-    kp=3;
+    kp=4;
     kd=0.04;
     
+    dAngle=0;
+    
     pwmOut.period_us(100);
     }
 
@@ -21,7 +23,7 @@
 }
 
 void Motor::calibAngle(float ang){
-    encoder.calibPulse((int)ang*1200/6.283);
+    encoder.calibPulse((int)(ang*1200/6.283));
     dAngle=ang;
 }