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Updated Parameters (markdown)

Candas1
2022-04-18 09:06:52 +02:00
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Parameters.md

@@ -48,4 +48,14 @@ This means if the input goes from 0 to 300, the output value will be 90% of the
A filter of 65535 in fixed-point, which corresponds to 1 in single precision, means no filter will be applied.<br>
You can also define parameter FILTER for a specific variant, it will overwrite DEFAULT_FILTER parameter (e.g. NUNCHUK Variant is using a smoother filter of 3276->0.05 ).
### Coefficients
DEFAULT_STEER_COEFFICIENT and DEFAULT_SPEED_COEFFIENT parameters can be used to scale INPUT1 and INPUT2 respectively.<br>
The default value for the speed coefficient is 16384 in fixed-point, which corresponds to 1.0 in single precision, it means INPUT2 is not scaled.<br>
A value of 8192 in fixed-point means the input value is multiplied by 0.5<br>
A value of 32767 in fixed-point means the input value is multiplied by 2.<br>
A value higher than 32767 in fixed-point means the coefficient is negative(e.g. NUNCHUK variant as a negative STEER_COEFFICIENT).<br>
After the coefficients have been applied, Steer and Speed value are mixed to control left and right motor.<br>
If you don't need steering, you can define STEER_COEFFICIENT parameter as 0, it will overwrite DEFAULT_STEER_COEFFICIENT.