cube
Dependencies: BNO055_fusion_tom FastPWM mbed
Diff: main.cpp
- Revision:
- 26:6ffb048f45ae
- Parent:
- 25:4902031d93e7
- Child:
- 27:240ce092615c
diff -r 4902031d93e7 -r 6ffb048f45ae main.cpp --- 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",