From 5d1c0fd44ce11338eddd072c71c208ef0c8ad4a2 Mon Sep 17 00:00:00 2001 From: "ishak jmilou.ishak" Date: Thu, 10 Oct 2024 13:01:48 +0200 Subject: [PATCH] change some values --- src/C++/Driver/src/CKobuki.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/C++/Driver/src/CKobuki.cpp b/src/C++/Driver/src/CKobuki.cpp index 57518be..2879f9c 100755 --- a/src/C++/Driver/src/CKobuki.cpp +++ b/src/C++/Driver/src/CKobuki.cpp @@ -644,9 +644,9 @@ void CKobuki::doRotation(long double th) { long double u = 0; // controlled variable, angular speed of the robot during movement long double w = th; // desired value in radians - long double Kp = PI; + long double Kp = 2.0; long double e = 0; - int thresh = PI / 2; + long double thresh = 1.0; theta = 0; x = 0;