Diff: main.cpp

Revision:

28:0b0b258eef75

Parent:

27:240ce092615c

Child:

29:137559beea74

--- a/main.cpp	Wed Apr 19 05:31:19 2017 +0000
+++ b/main.cpp	Thu Apr 20 23:49:04 2017 +0000
@@ -26,9 +26,10 @@
 BNO055_ID_INF_TypeDef   bno055_id_inf;
 BNO055_EULER_TypeDef    euler_angles;
 BNO055_VEL_TypeDef      velocity;  
-double Kbt =  -65.9945; //-72.4921;//-67.9056;//-92.4921;//-89.9276;
-double Kbv = -9.2202; //-9.9672;//-11.4004;//-13.8353;//-9.9672; //-14.9398;
-double Kwv = -0.000661; //-0.1164; //-0.00025; //
+double Kbt =  -66.9102;//-65.9945; //-72.4921;//-67.9056;//-92.4921;//-89.9276;
+double Kbv = -9.1752;//-9.2202; //-9.9672;//-11.4004;//-13.8353;//-9.9672; //-14.9398;
+double Kwv = -0.00558; //-0.1164; //-0.00025; //
+double speed;
 double wv;
 double bt;
 double bv;
@@ -42,8 +43,8 @@
 {
 
     //myled = !myled;
-    wv = I1.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
-    wv = (wv-0.5)*(5000/0.5); // Scale the velocity to rad/s
+    speed = I1.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
+    wv = (speed-0.5)*(5000/0.5); // Scale the velocity to rad/s
 
     bt = ((euler_angles.p) + (pi/4));
     bv = -1.0*velocity.z;