Constants for the PID controller. More...

Macros
#define	PID_BIAS_LEFT_RATIO 1.05f
	Bias for left ratio.

#define	PID_ENCODER_PIN 21
	Encoder pin for PID.

#define	PID_EPSILON 0.01f
	Epsilon for PID. A small value to prevent division by 0.

#define	PID_KD 0.01f
	Gain for derivative term.

#define	PID_KI 0.05f
	Gain for integral term.

#define	PID_KP 0.01f
	Gain for proportional term.

#define	PID_RATIO_TO_BEARING -0.035f
	Ratio to bearing for PID.

Detailed Description

Constants for the PID controller.

Macros