Revision e0c5d17a devices/DiWheelDrive/linefollow.hpp

View differences:

devices/DiWheelDrive/linefollow.hpp
6 6 
#include <amiroosconf.h>
7 7 

  		




  8
  8
  
    
#define RAND_TRESH 16000


  		




  
  9
  
    
#define MAX_CORRECTED_SPEED 1000000*100


  		




  9
  10
  
    

  		




  10
  11
  
    
namespace amiro {


  		




  11
  12
  
    
  


  		




  ......




  116
  117
  
    
  int trans = 0;


  		




  117
  118
  
    

  		




  118
  119
  
    
  // PID controller components ---------------


  		




  119
  
  
    
  int32_t K_p = 1400;


  		




  120
  
  
    
  float K_i = 0.06;


  		




  121
  
  
    
  float K_d = 0.1;


  		




  
  120
  
    
  int32_t K_p = 1900;


  		




  
  121
  
    
  float K_i = 0.15;


  		




  
  122
  
    
  float K_d = 0.6;


  		




  122
  123
  
    
  int32_t accumHist = 0;


  		




  123
  
  
    
  float oldError = 0;


  		




  
  124
  
    
  int32_t oldError = 0;


  		




  124
  125
  
    
  // ----------------------------------------


  		




  125
  126
  
    
};


  		




  126
  127
  
    

  		












Also available in:  Unified diff