Diff: main.cpp

Revision:

29:137559beea74

Parent:

28:0b0b258eef75

Child:

30:8916c88fe676

--- a/main.cpp	Thu Apr 20 23:49:04 2017 +0000
+++ b/main.cpp	Fri Apr 21 00:37:38 2017 +0000
@@ -26,9 +26,9 @@
 BNO055_ID_INF_TypeDef   bno055_id_inf;
 BNO055_EULER_TypeDef    euler_angles;
 BNO055_VEL_TypeDef      velocity;  
-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 Kbt =  -67.5155;//-65.9945; //-72.4921;//-67.9056;//-92.4921;//-89.9276;
+double Kbv = -9.3610;//-9.2202; //-9.9672;//-11.4004;//-13.8353;//-9.9672; //-14.9398;
+double Kwv = -0.008; //-0.1164; //-0.00025; //-0.02;//
 double speed;
 double wv;
 double bt;
@@ -65,12 +65,12 @@
     
     P1 = r1;
     
-    if (bt > (pi/8)){
+    if (bt > (pi/6)){
         EN1 = 0;
         pwmint.detach();
         }
         
-    else if (bt< -(pi/8)){
+    else if (bt< -(pi/6)){
         EN1 = 0; 
         pwmint.detach();
         }