Diff: main.cpp

Revision:

26:6ffb048f45ae

Parent:

25:4902031d93e7

Child:

27:240ce092615c

--- a/main.cpp	Mon Apr 17 05:20:48 2017 +0000
+++ b/main.cpp	Mon Apr 17 06:19:18 2017 +0000
@@ -26,10 +26,9 @@
 BNO055_ID_INF_TypeDef   bno055_id_inf;
 BNO055_EULER_TypeDef    euler_angles;
 BNO055_VEL_TypeDef      velocity;  
-
-double Kbt =  -67.9056;//-92.4921;//-89.9276;
-double Kbv = -11.4004;//-13.8353;//-9.9672; //-14.9398;
-double Kwv = -2.2481;//-0.0002; //-0.0909; 
+double Kbt =  -72.4921;//-67.9056;//-92.4921;//-89.9276;
+double Kbv = -9.9672;//-11.4004;//-13.8353;//-9.9672; //-14.9398;
+double Kwv = -0.00025; //-0.0909; 
 double wv;
 double bt;
 double bv;
@@ -125,7 +124,7 @@
     while(1) {
 
 
-        //pc.printf("H:%+6.4f [rad], P:%+6.4f, R:%+6.4f, THETA%+6.4f [PWM], Theta_dot:%+6.4f [rad/s] , WV:%+6.4f [rad/s] \r\n",
+       // pc.printf("H:%+6.4f [rad], P:%+6.4f, R:%+6.4f, THETA%+6.4f [PWM], Theta_dot:%+6.4f [rad/s] , WV:%+6.4f [rad/s] \r\n",
         //          euler_angles.h, euler_angles.p, euler_angles.r, bt, velocity.z, wv);
 
         //pc.printf("Theta:%+6.4f [rad], P:%+6.4f [rad], R1%+6.4f [PWM], Theta_dot:%+6.4f [rad/s], WV:%+6.4f [rad/s] \r\n",