Author: ks156
Date: 2009-06-08 17:00:09 +0200 (Mon, 08 Jun 2009)
New Revision: 4755
Modified:
firmware/tuxcore/branches/demo/global.h
firmware/tuxcore/branches/demo/motors.c
Log:
* Adapted the compensation variables and reduce the scale factor
Modified: firmware/tuxcore/branches/demo/global.h
===================================================================
--- firmware/tuxcore/branches/demo/global.h 2009-06-08 14:11:20 UTC (rev
4754)
+++ firmware/tuxcore/branches/demo/global.h 2009-06-08 15:00:09 UTC (rev
4755)
@@ -32,8 +32,8 @@
#include "common/api.h"
#ifdef DEMO
-#define LEFT_COMP_CONT 8
-#define RIGHT_COMP_CONT -7
+#define LEFT_COMP_CONT 15
+#define RIGHT_COMP_CONT -11
#define LEFT_COMP LEFT_COMP_CONT
#define RIGHT_COMP RIGHT_COMP_CONT
#endif
Modified: firmware/tuxcore/branches/demo/motors.c
===================================================================
--- firmware/tuxcore/branches/demo/motors.c 2009-06-08 14:11:20 UTC (rev
4754)
+++ firmware/tuxcore/branches/demo/motors.c 2009-06-08 15:00:09 UTC (rev
4755)
@@ -266,7 +266,7 @@
if (motor == MOT_SPIN_L)
{
#ifdef DEMO
- spin_stop_delay = (value * 40);
+ spin_stop_delay = (value * 35);
spin_left(value, 2);
#else
spin_left(value, spin_params_pwm);
@@ -275,7 +275,7 @@
else
{
#ifdef DEMO
- spin_stop_delay = (value * 40);
+ spin_stop_delay = (value * 35);
spin_right(value, 2);
#else
spin_right(value, spin_params_pwm);
------------------------------------------------------------------------------
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