Revision c9fa414d devices/DiWheelDrive/linefollow.hpp

View differences:

devices/DiWheelDrive/linefollow.hpp
116 116 
  int trans = 0;
117 117 

  		




  118
  118
  
    
  // PID controller components ---------------


  		




  119
  
  
    
  float K_p = 0.002;


  		




  120
  
  
    
  float K_i = 0;


  		




  121
  
  
    
  float K_d = 0;


  		




  122
  
  
    
  int accumHist = 0;


  		




  
  119
  
    
  int32_t K_p = 1400;


  		




  
  120
  
    
  float K_i = 0.06;


  		




  
  121
  
    
  float K_d = 0.2;


  		




  
  122
  
    
  int32_t accumHist = 0;


  		




  123
  123
  
    
  float oldError = 0;


  		




  124
  124
  
    
  // ----------------------------------------


  		




  125
  125
  
    
};


  		












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