First Commit
Balance
Second
Added encoder and gyro classes.
Added encoders, gyro and init codes.
Fixed definition mistake
Balancing with kd alone. :)
Balancing well with Average. Little Wiggle.
Use built-in abs() instead
Updated gyro scale and type.
New accel params. (Not tested yet)
updated prototypes
updated var type
updated var types.
Use offset error directly instead of omega from gyro directly.
Redefine ports in custom def.
Moved gyro ports to var.h
Added Kalman Filter.
Camera
New kp kd value. Stable balance.