2014 Eurobot fork
Dependencies: mbed-rtos mbed QEI
Revision 80:b9b5d5ecea71, committed 2013-04-15
- Comitter:
- madcowswe
- Date:
- Mon Apr 15 17:23:33 2013 +0000
- Parent:
- 78:3178a1e46146
- Parent:
- 79:0d3140048526
- Child:
- 82:d32b58dbeb94
- Commit message:
- merged
Changed in this revision
globals.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/Processes/Kalman/Kalman.cpp Mon Apr 15 17:07:40 2013 +0000 +++ b/Processes/Kalman/Kalman.cpp Mon Apr 15 17:23:33 2013 +0000 @@ -140,8 +140,8 @@ P = 0.02*0.02, 0, 0, 0, 0, 0.02*0.02, 0, 0, - 0, 0, 0.4*0.4, -0.4*0.4, - 0, 0, -0.4*0.4, 0.4*0.4 + 0.05*0.05; + 0, 0, 0.1*0.1, -0.1*0.1, + 0, 0, -0.1*0.1, 0.1*0.1 + 0.05*0.05; statelock.unlock(); @@ -386,7 +386,7 @@ } Matrix<float, 4, 1> PHt (P * trans(H)); - S = (H * PHt)(0,0) + variance*10; //TODO: Temp Hack! + S = (H * PHt)(0,0) + variance*4; //TODO: Temp Hack! OLED3 = 0; if (aborton2stddev && Y*Y > 4 * S) {
--- a/globals.h Mon Apr 15 17:07:40 2013 +0000 +++ b/globals.h Mon Apr 15 17:23:33 2013 +0000 @@ -16,10 +16,10 @@ const float TURRET_FWD_PLACEMENT = -0.042; //Robot movement constants -const float fwdvarperunit = 0.001; //1 std dev = 7% //TODO: measrue this!! -const float varperang = 0.0005; //around 3 degree stddev per 180 turn //TODO: measrue this!! -const float xyvarpertime = 0.0001; //(very poorly) accounts for hitting things -const float angvarpertime = 0.001; +const float fwdvarperunit = 0.0001; //1 std dev = 7% //TODO: measrue this!! +const float varperang = 0.0003; //around 3 degree stddev per 180 turn //TODO: measrue this!! +const float xyvarpertime = 0.000025; //(very poorly) accounts for hitting things +const float angvarpertime = 0.0001; const float MOTORCONTROLLER_FILTER_K = 0.5;// TODO: tune this const float MOTOR_MAX_POWER = 0.5f;