improved moveControl

src/config.h

@@ -22,18 +22,21 @@
 #define BACKWARD 2
 
 //MotorControl config
-#define RUN_MOTOR_CONTROL_DELAY 300 // Normal 50 ?
+#define RUN_MOTOR_CONTROL_DELAY 20 // Normal 10
 #define PWM_FREQ 16000
 #define PWM_RES 8
 #define PWM_CHANNEL_M1 0
 #define PWM_CHANNEL_M2 1
-#define UPDATE_TIME 25
-#define SPEED_STEPS 5       //  A total of 20 levels ( 100 / SPEED_STEPS ) * UPDATE_TIME = 500ms
-#define PWM_MIN 150
+#define SPEED_STEPS 2       //  A total of 20 levels ( 100 / SPEED_STEPS ) * RUN_MOTOR_CONTROL_DELAY = 500ms
+#define PWM_MIN 120
 #define PWM_MAX 245         // Max 98% of 2^PWM_RES
 
-//Encoder config
-#define RUN_SPEEDOMETER_DELAY 500 // Normal 10 untested
-#define ENC_FILTER 2400
+//Speedometer config
+#define RUN_SPEEDOMETER_DELAY 30 // Normal 30 untested
+#define ENC_FILTER 1023 // 1023 is max
 #define ENC_STEPS 1024
 #define WHEEL_DIAMETER 0.1263 //meter
+#define BUF_SIZE 40
+
+//MoveControl config
+#define RUN_MOVE_CONTROL_DELAY 600 // Normal 10 untested