Smikkelbakje/J2S1-Kobuki
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trying to fix calibration for rotation

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ishak jmilou.ishak
2024-10-07 10:26:00 +02:00
parent 65adec8e1a
commit 50ba162717
1 changed files with 6 additions and 6 deletions
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12
src/C++/Driver/src/CKobuki.cpp
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@@ -700,9 +700,9 @@ void CKobuki::doRotation(long double th)
{ {
long double u = 0; // controlled variable, angular speed of the robot during movement long double u = 0; // controlled variable, angular speed of the robot during movement
long double w = th; // desired value in radians long double w = th; // desired value in radians
long double Kp = PI; long double Kp = PI * 2;
long double e = 0; long double e = 0;
int thresh = PI / 2; int thresh = PI;
theta = 0; theta = 0;
x = 0; x = 0;
@@ -720,8 +720,8 @@ void CKobuki::doRotation(long double th)
if (u > thresh) if (u > thresh)
u = thresh; u = thresh;
if (u < 0.4) if (u < 0.6)
u = 0.4; u = 0.6;
if (i < u) if (i < u)
{ {
@@ -743,8 +743,8 @@ void CKobuki::doRotation(long double th)
if (u > thresh) if (u > thresh)
u = thresh; u = thresh;
if (u < 0.4) if (u < 0.6)
u = 0.4; u = 0.6;
if (i < u) if (i < u)
{ {