Change Icount from running sum to running average

va3wam / TWIPe

This repository contains the embedded code used for the TWIPe robot

MIT License

2 stars 0 forks source link

Change Icount from running sum to running average #69

Closed va3wam closed 3 years ago

va3wam commented 3 years ago

Right now the longer the history (I count) variable is the worse the balancing gets. Try changing the way the I count variable is set so that it uses the average of the past values.