Smikkelbakje/J2S1-Kobuki
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fixing rotation

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ishak jmilou.ishak
2024-10-07 10:29:00 +02:00
parent 50ba162717
commit a7e4bbbb46
1 changed files with 2 additions and 2 deletions
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4
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 * 2; long double Kp = PI;
long double e = 0; long double e = 0;
int thresh = PI; int thresh = PI /2;
theta = 0; theta = 0;
x = 0; x = 0;