Tuk ZeroFour / PID

29/10/2019

Dependencies:   Encoder_Nucleo_16_bits

Dependents:   Kenya_2019

Files at this revision

API Documentation at this revision

Revision 16:a8a0a1e3ddb1, committed 2019-10-29

Comitter:
tuk4
Date:
Tue Oct 29 16:47:10 2019 +0000
Parent:
15:5dfa92698884
Child:
17:a5af05cade7e
Commit message:
Robot code 29/10/2019

Changed in this revision

PID.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/PID.cpp	Fri Oct 25 09:41:31 2019 +0000
+++ b/PID.cpp	Tue Oct 29 16:47:10 2019 +0000
@@ -75,8 +75,8 @@
     // As we use mm/s for speed unit and we convert all mesure to this unit
 
     // Converting step to millimeters
-    _measDistG = ((double)PositionG - (double)oldPositionG) / 54.881;
-    _measDistD = ((double)PositionD - (double)oldPositionD) / 54.881;
+    _measDistG = ((double)PositionG - (double)oldPositionG) / 42.415;
+    _measDistD = ((double)PositionD - (double)oldPositionD) / 42.415;
 
     // Converting position to speed
     _measSpeedG = 1000.0 * _measDistG;