2014 Eurobot fork
Dependencies: mbed-rtos mbed QEI
Diff: Processes/Motion/motion.cpp
- Revision:
- 34:e1678450feec
- Parent:
- 33:a49197572737
- Child:
- 36:34f4b38039bb
--- a/Processes/Motion/motion.cpp Wed Apr 10 19:52:19 2013 +0000 +++ b/Processes/Motion/motion.cpp Wed Apr 10 20:06:29 2013 +0000 @@ -49,7 +49,7 @@ AI::waypoint_flag_mutex.unlock(); // angular velocity controller - const float p_gain_av = 0.8; //TODO: tune + const float p_gain_av = 0.5; //TODO: tune const float max_av = 0.5*PI; // radians per sec //TODO: tune @@ -64,7 +64,7 @@ // forward velocity controller - const float p_gain_fv = 0.8; //TODO: tune + const float p_gain_fv = 0.5; //TODO: tune float max_fv = 0.2; // meters per sec //TODO: tune const float angle_envelope_exponent = 8.0; //TODO: tune