Revision d1b06e44
| devices/DiWheelDrive/global.hpp | ||
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| 164 | 164 |
DiWheelDrive robot; |
| 165 | 165 |
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UserThread userThread; |
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int rpmForward[2] = {20,20};
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int rpmForward[2] = {30,30};
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int rpmSoftLeft[2] = {10,20};
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| 169 | 169 |
int rpmHardLeft[2] = {5,20};
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int rpmSoftRight[2] = {rpmSoftLeft[1],rpmSoftLeft[0]};
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| ... | ... | |
| 174 | 174 |
// Line Following thresholds set due to calibration |
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// MaxDelta: 18676, FL: 4289, FR: 22965 |
| 176 | 176 |
// Thresh FL: 5241, FR: 25528 |
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int threshProxyL = 5241; |
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int threshProxyR = 25528; |
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// Good for amiro 25 |
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struct line_pid {
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int K_p = 0.0f; |
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float K_i = 0.0f; |
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float K_d = 0.0f; |
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int threshProxyL = 5241; |
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int threshProxyR = 25528; |
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int BThresh = 5; |
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int WThresh = 25528; |
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}; |
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line_pid linePID; |
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int threshWhite = 40000; |
| 180 | 192 |
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// PID for line following: |
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float K_p = 0.0f; |
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float K_i = 0.0f; |
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float K_d = 0.0f; |
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| 185 | 195 |
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| 186 | 196 |
// Integral part |
| 187 | 197 |
int accumHist = 0; |
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