Andrew SaLoutos / Mbed OS Bezier_Traj_Follower_Example

Example Mbed code for MIT 2.74 Lab 4

Dependencies:   ExperimentServer QEI_pmw MotorShield

Dependents:   project

Files at this revision

API Documentation at this revision

Revision 25:52b378e89f42, committed 2020-09-29

Comitter:
saloutos
Date:
Tue Sep 29 21:09:51 2020 +0000
Parent:
24:26a515ebb7cf
Commit message:
Comments for pre_buffer gains

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Tue Sep 29 20:38:35 2020 +0000
+++ b/main.cpp	Tue Sep 29 21:09:51 2020 +0000
@@ -214,10 +214,10 @@
                 float vMult = 0;
                 if( t < start_period) {
                     if (K_xx > 0 || K_yy > 0) {
-                        K_xx = 1; // for joint space control, set this to 50
-                        K_yy = 1; // for joint space control, set this to 50
-                        D_xx = 0.1;  // for joint space control, set this to 2
-                        D_yy = 0.1;  // for joint space control, set this to 2
+                        K_xx = 1; // for joint space control, set this to 1; for Cartesian space control, set this to 50
+                        K_yy = 1; // for joint space control, set this to 1; for Cartesian space control, set this to 50
+                        D_xx = 0.1;  // for joint space control, set this to 0.1; for Cartesian space control, set this to 2
+                        D_yy = 0.1;  // for joint space control, set this to 0.1; for Cartesian space control, set this to 2
                         K_xy = 0;
                         D_xy = 0;
                     }