pwm 25.3

catkin_ws/src/asclinic_pkg/src/fcontroller1.cpp

@@ -56,8 +56,8 @@ float w_now = 0;
 float v_now = 0;
 int state_value = 2; // 0 is forward, 1 is rotate , 2 is pending
 
-float initial_pwm = 26.5;
-
+float initial_pwm = 26.3;
+//initial 26.5
 void straightline(const asclinic_pkg::vw& vw_msg) {
 
 
@@ -87,7 +87,7 @@ void purerotation(const asclinic_pkg::rotation& rotation_msg) {
     float flag = rotation_msg.direction;
     ref_phi = rotation_msg.ref_phi;
     
-    float rotating_pwm = 10;
+    float rotating_pwm = 15;
     float right;
     float left;
     if (flag > 0) {