Ryan Savitski / Mbed 2 deprecated ICRSEurobot14

2014 Eurobot fork

Dependencies:   mbed-rtos mbed QEI

Diff: Processes/Motion/motion.cpp

Revision:
34:e1678450feec
Parent:
33:a49197572737
Child:
36:34f4b38039bb
diff -r a49197572737 -r e1678450feec Processes/Motion/motion.cpp
--- 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