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cube
Dependencies: BNO055_fusion_tom FastPWM mbed
Diff: main.cpp
- Revision:
- 33:2434fd576d34
- Parent:
- 32:e77ad4aff1fd
- Child:
- 34:2cdc880e4c29
--- a/main.cpp Sat Apr 22 19:39:21 2017 +0000 +++ b/main.cpp Sat Apr 22 19:50:21 2017 +0000 @@ -26,9 +26,10 @@ BNO055_ID_INF_TypeDef bno055_id_inf; BNO055_EULER_TypeDef euler_angles; BNO055_VEL_TypeDef velocity; -double Kbt = -67.5155; -double Kbv = -9.3610; -double Kwv = -0.0082; + //LQR 500 //LQR 1000 //Pole Placement +double Kbt = -83.4030; //-77.7950; //-67.5155; +double Kbv = -10.5874; //-9.8654; //-9.3610; +double Kwv = -0.00468; //-0.00337; //-0.0082; double speed; double wv; double bt;