Smikkelbakje/J2S1-Kobuki
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test rotation

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ishak jmilou.ishak
2024-10-10 13:19:57 +02:00
parent 5d1c0fd44c
commit ebfacd52b4
1 changed files with 2 additions and 2 deletions
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4
src/C++/Driver/src/CKobuki.cpp
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@@ -644,9 +644,9 @@ void CKobuki::doRotation(long double th) {
long double u = long double u =
0; // controlled variable, angular speed of the robot during movement 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 = 2.0; long double Kp = PI;
long double e = 0; long double e = 0;
long double thresh = 1.0; long double thresh = PI / 2;
theta = 0; theta = 0;
x = 0; x = 0;