2014 Eurobot fork
Dependencies: mbed-rtos mbed QEI
Revision 47:fc471218af95, committed 2013-04-12
- Comitter:
- madcowswe
- Date:
- Fri Apr 12 02:05:51 2013 +0000
- Parent:
- 42:6504d85d85b4
- Child:
- 48:254b124cef02
- Commit message:
- Bumped up motor control to 100Hz, not working for some unexplainable reason
Changed in this revision
globals.h | Show annotated file Show diff for this revision Revisions of this file |
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/globals.h Thu Apr 11 19:49:46 2013 +0000 +++ b/globals.h Fri Apr 12 02:05:51 2013 +0000 @@ -18,7 +18,7 @@ const float xyvarpertime = 0;//0.0005; //(very poorly) accounts for hitting things const float angvarpertime = 0;//0.001; -const float MOTORCONTROLLER_FILTER_K = 0.5;// TODO: tune this +const float MOTORCONTROLLER_FILTER_K = 0.8;// TODO: tune this const float MOTOR_MAX_POWER = 0.5f; /*
--- a/main.cpp Thu Apr 11 19:49:46 2013 +0000 +++ b/main.cpp Fri Apr 12 02:05:51 2013 +0000 @@ -76,7 +76,7 @@ Thread updatethread(Kalman::updateloop, NULL, osPriorityNormal, 2084); Ticker motorcontroltestticker; - motorcontroltestticker.attach(MotorControl::motor_control_isr, 0.05); + motorcontroltestticker.attach(MotorControl::motor_control_isr, 0.01); // ai layer thread Thread aithread(AI::ailayer, NULL, osPriorityNormal, 2048);