Commit @6f0fd130c320cb67999ee78408a24673031b738c

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gyeongsangseaman 08-01

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@6f0fd130c320cb67999ee78408a24673031b738c

0f73335

6f0fd13

vdwd2.0.ino (Renamed from vdwd1.0.ino)

--- vdwd1.0.ino

+++ vdwd2.0.ino


 
 volatile long encoderPos1 = 0, encoderPos2 = 0;
 double v = 0, w = 0;
-double prevV = 0, prevW = 0;
 double rpm1 = 0, rpm2 = 0;
 int calPWM1 = 0, calPWM2 = 0;
 double error1 = 0, prevError1 = 0, integral1 = 0, derivative1 = 0;

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...	...	@@ -24,7 +24,6 @@
24	24
25	25	volatile long encoderPos1 = 0, encoderPos2 = 0;
26	26	double v = 0, w = 0;
27		-double prevV = 0, prevW = 0;
28	27	double rpm1 = 0, rpm2 = 0;
29	28	int calPWM1 = 0, calPWM2 = 0;
30	29	double error1 = 0, prevError1 = 0, integral1 = 0, derivative1 = 0;

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