This is the one where I went back and un-did the cube.cpp file
Dependencies: BNO055_fusion_tom FastPWM mbed
Fork of NucleoCube1 by
Diff: main.cpp
- Revision:
- 10:69eb22acaea3
- Parent:
- 9:6a83e2777d24
- Child:
- 13:e41d32a48931
diff -r 6a83e2777d24 -r 69eb22acaea3 main.cpp --- a/main.cpp Sun Apr 09 19:52:02 2017 +0000 +++ b/main.cpp Sun Apr 09 19:56:14 2017 +0000 @@ -28,8 +28,8 @@ //BNO055_EULER_TypeDef velocity; IN PROGRESS -double Kbt = .54; -double Kbv = 0.23; +double Kbt = 5.4; +double Kbv = 0.33; double Kwv = 0.124; double r1; @@ -41,6 +41,14 @@ r1 = (Kbt*euler_angles.h*3.14/180.0); r1 = (r1 + 6.0)/12.0 ; //Normalize for PWM output + + //Limit PWM range + if (r1 > 1.0){ + r1 = 1.0; + } + if (r1 < 0.0){ + r1 = 0.0; + } P1 = r1; //P2 = (euler_angles.r/360.0); //P3 = (euler_angles.p/360.0);