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lego_rip [2017/05/23 11:37]
sangsinpark [Equations of motion]
lego_rip [2017/06/15 10:10] (current)
sangsinpark [NXC code for LEGO NXT Brick]
Line 161: Line 161:
 { {
    float error = refRad - Mrad;    float error = refRad - Mrad;
-   float U = PGain*error + IGain*M_errSum ​DGain*d_Mrad;​+   float U = PGain*error + IGain*M_errSum ​DGain*d_Mrad;​
  
    if(U > FULL_SPEED)    if(U > FULL_SPEED)
lego_rip.txt ยท Last modified: 2017/06/15 10:10 by sangsinpark