Ryan Savitski / Mbed 2 deprecated ICRSEurobot14

2014 Eurobot fork

Dependencies:   mbed-rtos mbed QEI

Diff: Processes/MotorControl/MotorControl.cpp

Revision:
34:e1678450feec
Parent:
33:a49197572737
Child:
60:5058465904e0
diff -r a49197572737 -r e1678450feec Processes/MotorControl/MotorControl.cpp
--- a/Processes/MotorControl/MotorControl.cpp	Wed Apr 10 19:52:19 2013 +0000
+++ b/Processes/MotorControl/MotorControl.cpp	Wed Apr 10 20:06:29 2013 +0000
@@ -18,7 +18,7 @@
 
     float testspeed = 0.2;
     float Fcrit = 1.75;
-    float Pcrit = 10;
+    float Pcrit = 10*0.5;
     float Pgain = Pcrit*0.45;
     float Igain = 1.2f*Pgain*Fcrit*0.2;
     
@@ -26,7 +26,7 @@
     float Pcrit_rot = 10;
     float Pgain_rot = Pcrit_rot*0.45f;
     float Fcrit_rot = 1.75f;
-    float Igain_rot = 1.2f*Pgain_rot*Fcrit_rot*0.07;
+    float Igain_rot = 1.2f*Pgain_rot*Fcrit_rot*0.1;
     
     //float Dgain = 
     static float lastT = SystemTime.read();