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@@ -4,9 +4,9 @@ QTRSensors qtr; |
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const uint8_t SensorCount = 8; |
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uint16_t sensorValues[SensorCount]; |
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float Kp = 0.06; //set up the constants value |
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float Kp = 0.07; //set up the constants value |
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float Ki = 0.0008; |
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float Kd = 0.7; |
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float Kd = 0.6; |
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int P; |
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int I; |
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int D; |
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@@ -22,10 +22,10 @@ const uint8_t basespeedb = 100; |
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//Set up the drive motor carrier pins |
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int mode = 8; |
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int aphase = 9; |
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int aenbl = 6; |
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int bphase = 5; |
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int benbl = 3; |
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int aphase = 5; |
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int aenbl = 3; |
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int bphase = 9; |
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int benbl = 6; |
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//Set up the buttons pins |
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int buttoncalibrate = 17; //pin A3 |
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