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ubcuas · Jun 24, 2024 · b59bb7d · b59bb7d
1 parent 20f65c4
commit b59bb7d
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/src/main/ConfigParse.h b/src/main/ConfigParse.h
@@ -33,7 +33,7 @@ typedef struct{
     double KP;
     double KI;
     double KD;
-    double PID_ControlRate
+    double PID_ControlRate;
 }PIDConfig_t ;
 
 // Output data settings for each sensor

diff --git a/src/main/main.ino b/src/main/main.ino
@@ -389,7 +389,7 @@ void ComputePID(){
   }
 
   // make the Data packet
-  AngleData data = {setpoint, sensorData_inst.imuData.EulerAngles.v2, 0};
+  AngleData data = {setpoint* 0.01745, sensorData_inst.imuData.EulerAngles.v2* 0.01745, 0};
   // send the data packet to the queue
   sendSteeringData(data);