ICRS Eurobot 2013
Dependencies: mbed mbed-rtos Servo QEI
Diff: main.cpp
- Revision:
- 18:10adf96f5416
- Parent:
- 15:9c5aaeda36dc
diff -r 9c5aaeda36dc -r 10adf96f5416 main.cpp --- a/main.cpp Sat Apr 06 20:57:54 2013 +0000 +++ b/main.cpp Sun Apr 07 18:04:48 2013 +0000 @@ -117,6 +117,7 @@ #include <cstdlib> using namespace std; +/* void printingtestthread(void const*){ const char ID = 1; float buffer[3] = {ID}; @@ -142,7 +143,7 @@ Thread::wait(500); } } - +*/ void feedbacktest(){ Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B); @@ -155,7 +156,7 @@ while(true){ float expecdist = fwdspeed * timer.read(); - float errleft = Eleft.getPoint() - (expecdist*1.05); + float errleft = Eleft.getPoint() - (expecdist*1.00); float errright = Eright.getPoint() - expecdist; mleft(max(min(errleft*Pgain, 0.4f), -0.4f));