Revision 35:e1678450feec, committed 2013-04-10

Comitter:

madcowswe

Date:

Wed Apr 10 20:06:29 2013 +0000

Parent:

34:a49197572737

Child:

37:34f4b38039bb

Commit message:

gains a bit more decent

Changed in this revision

--- a/Processes/Motion/motion.cpp	Wed Apr 10 19:52:19 2013 +0000
+++ b/Processes/Motion/motion.cpp	Wed Apr 10 20:06:29 2013 +0000
@@ -49,7 +49,7 @@
     AI::waypoint_flag_mutex.unlock();
     
     // angular velocity controller
-    const float p_gain_av = 0.8; //TODO: tune
+    const float p_gain_av = 0.5; //TODO: tune
     
     const float max_av = 0.5*PI; // radians per sec //TODO: tune
     
@@ -64,7 +64,7 @@
     
     
     // forward velocity controller
-    const float p_gain_fv = 0.8; //TODO: tune
+    const float p_gain_fv = 0.5; //TODO: tune
     
     float max_fv = 0.2; // meters per sec //TODO: tune
     const float angle_envelope_exponent = 8.0; //TODO: tune

--- a/Processes/MotorControl/MotorControl.cpp	Wed Apr 10 19:52:19 2013 +0000
+++ b/Processes/MotorControl/MotorControl.cpp	Wed Apr 10 20:06:29 2013 +0000
@@ -18,7 +18,7 @@
 
     float testspeed = 0.2;
     float Fcrit = 1.75;
-    float Pcrit = 10;
+    float Pcrit = 10*0.5;
     float Pgain = Pcrit*0.45;
     float Igain = 1.2f*Pgain*Fcrit*0.2;
     
@@ -26,7 +26,7 @@
     float Pcrit_rot = 10;
     float Pgain_rot = Pcrit_rot*0.45f;
     float Fcrit_rot = 1.75f;
-    float Igain_rot = 1.2f*Pgain_rot*Fcrit_rot*0.07;
+    float Igain_rot = 1.2f*Pgain_rot*Fcrit_rot*0.1;
     
     //float Dgain = 
     static float lastT = SystemTime.read();