cube
Dependencies: BNO055_fusion_tom FastPWM mbed
Diff: main.cpp
- Revision:
- 29:137559beea74
- Parent:
- 28:0b0b258eef75
- Child:
- 30:8916c88fe676
diff -r 0b0b258eef75 -r 137559beea74 main.cpp --- 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(); }