2014 Eurobot fork
Dependencies: mbed-rtos mbed QEI
Diff: globals.h
- Revision:
- 49:665bdca0f2cd
- Parent:
- 47:fc471218af95
- Child:
- 50:937e860f4621
--- a/globals.h Fri Apr 12 17:03:53 2013 +0000 +++ b/globals.h Fri Apr 12 21:07:00 2013 +0000 @@ -13,12 +13,12 @@ const float TURRET_FWD_PLACEMENT = -0.042; //Robot movement constants -const float fwdvarperunit = 0.01; //1 std dev = 7% //TODO: measrue this!! -const float varperang = 0.0002; //around 1 degree stddev per 180 turn //TODO: measrue this!! -const float xyvarpertime = 0;//0.0005; //(very poorly) accounts for hitting things -const float angvarpertime = 0;//0.001; +const float fwdvarperunit = 0.001; //1 std dev = 7% //TODO: measrue this!! +const float varperang = 0.0005; //around 3 degree stddev per 180 turn //TODO: measrue this!! +const float xyvarpertime = 0.0001; //(very poorly) accounts for hitting things +const float angvarpertime = 0.001; -const float MOTORCONTROLLER_FILTER_K = 0.8;// TODO: tune this +const float MOTORCONTROLLER_FILTER_K = 0.5;// TODO: tune this const float MOTOR_MAX_POWER = 0.5f; /*