Diff: main.cpp

Revision:

35:34a62f118eb0

Parent:

34:2cdc880e4c29

Child:

36:54b527b3a576

--- a/main.cpp	Sat Apr 22 20:23:21 2017 +0000
+++ b/main.cpp	Sat Apr 22 21:09:29 2017 +0000
@@ -26,10 +26,10 @@
 BNO055_ID_INF_TypeDef   bno055_id_inf;
 BNO055_EULER_TypeDef    euler_angles;
 BNO055_VEL_TypeDef      velocity;  
-            //LQR2000     //LQR 500   //LQR 1000  //Pole P
-double Kbt = -73.8411; //-83.4030; //-77.7950; //-67.5155;
-double Kbv = -9.3563;  //-10.5874; //-9.8654;  //-9.3610;
-double Kwv = -0.00244;  //-0.00468; //-0.00337; //-0.0082; 
+            //Pole P + f//Pole P    //LQR 2000  //LQR 500   //LQR 1000  
+double Kbt = -67.6352;   //-67.5155;  //-73.8411; //-83.4030; //-77.7950; 
+double Kbv = -9.3204;   //-9.3610;   //-9.3563;  //-10.5874; //-9.8654;  
+double Kwv = -0.0094;//82;//587;   //-0.0080;   //-0.00244; //-0.00468; //-0.00337; 
 double speed;
 double wv;
 double bt;