added debug class for time measurment

2021-11-25 15:01:20 +01:00
parent c741546ba1
commit a9f34b0054
7 changed files with 67 additions and 42 deletions
@@ -1,3 +1,4 @@
+// Global config file
 // The front is where the boards are


@@ -48,10 +49,10 @@
 //MoveControl config
 #define RUN_MOVE_CONTROL_DELAY 10
 #define ACCELERATE_STEPS 1
-#define PID_LEFT_P 40
+#define PID_LEFT_P 85
 #define PID_LEFT_I 0
 #define PID_LEFT_D 0
-#define PID_RIGHT_P 40
+#define PID_RIGHT_P 75
 #define PID_RIGHT_I 0
 #define PID_RIGHT_D 0
 #define PID_OUT_MIN -100
@@ -60,8 +61,8 @@

 //ManualControl config
 #define RUN_MANUALCONTROL_DELAY 10 // normaly 10
-#define MANUALCONTROL_MAX_SPEED 1.0
-#define MANUALCONTROL_MAX_ROTATION 1.0
+#define MANUALCONTROL_MAX_SPEED 1.0 // m/s
+#define MANUALCONTROL_MAX_ROTATION 7.0 // rad/s

 //MQTT global config
 #define MQTT_BUFFER_SITE 128