#define KI 0.051429
#define KD 0.000378
#define PID_T 0.01
-#define STEP_PER_M 3376.1 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:34
+#define STEP_PER_M 4171.4 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:34
#define WHEEL_DIST 0.252
enum mode {
angle_new = angle.f + angle_diff;
if (angle_new > 2*M_PI) angle_new-=2*M_PI;
- else if (angle_new < 2*M_PI) angle_new+=2*M_PI;
+ else if (angle_new < -2*M_PI) angle_new+=2*M_PI;
translation = (diff_left_m + diff_right_m)/2.0;
pos_x_new = pos_x.f + cos(angle_new)*translation;