<commit_before>// Main.cpp : Defines the entry point for the console application.
//

#include "stdafx.h"
#include "arduino.h"
#include "Gyroscope.h"
#include "Motors.h"
#include "Regulator.h"
#include "KeyboardController.h"

#define TICK_PER_SECOND 75
#define TICK_LENGTH_MICROSECONDS 1000000L / TICK_PER_SECOND

int _tmain(int argc, _TCHAR* argv[])
{
    return RunArduinoSketch();
}

Gyroscope gyroscope;
Motors motors;
Regulator angleRegulator(TICK_PER_SECOND);
Regulator speedRegulator(TICK_PER_SECOND / 2);
KeyboardController keyboard;
Integrator speedIntegrator(TICK_PER_SECOND);

float targetSpeed = 0;
float targetAngle = 0;

void setup()
{
	motors.init();
	gyroscope.init();
	keyboard.init();
	/* 
	PID coefficients may vary depending on mechanical properties of the robot/motors/battery
	Here are some instructions how to tune the PID
	http://robotics.stackexchange.com/questions/167/what-are-good-strategies-for-tuning-pid-loops 
	*/

	// Angle regulator. This PID adjusts the desired angle (normally 0) depending 
	// on the mean spead of the robot. The goal is to keep the mean speed near 0. 
	// (robot is staying on one place and does not not drive away)
	angleRegulator.init(-0.02, 0, 0); // P is negative, because to compensate positive speed we mast tilt the robot little bit back 

	// Speed regulator. This PID gets the desired angle from the angle regulator and 
	// adjusts the acceleartion (power applied to motors) to keep the angle near the desired value.
	speedRegulator.init(35, 0.2, 0);

	wprintf(L"Press Esc to exit\n");
}

// the loop routine runs over and over again forever:
void loop()
{
	wprintf(L"Calibration in 3 seconds\n");
	delay(3000);
	wprintf(L"Calibrating...");
	gyroscope.calibrate();

	wprintf(L"Cycle tyme in microseconds: %ld \n", TICK_LENGTH_MICROSECONDS);

	// main cycle
	delay(100);
<commit_msg>Fix typos<commit_after>// Main.cpp : Defines the entry point for the console application.
//

#include "stdafx.h"
#include "arduino.h"
#include "Gyroscope.h"
#include "Motors.h"
#include "Regulator.h"
#include "KeyboardController.h"

#define TICK_PER_SECOND 75
#define TICK_LENGTH_MICROSECONDS 1000000L / TICK_PER_SECOND

int _tmain(int argc, _TCHAR* argv[])
{
    return RunArduinoSketch();
}

Gyroscope gyroscope;
Motors motors;
Regulator angleRegulator(TICK_PER_SECOND);
Regulator speedRegulator(TICK_PER_SECOND / 2);
KeyboardController keyboard;
Integrator speedIntegrator(TICK_PER_SECOND);

float targetSpeed = 0;
float targetAngle = 0;

void setup()
{
	motors.init();
	gyroscope.init();
	keyboard.init();
	/* 
	PID coefficients may vary depending on mechanical properties of the robot/motors/battery
	Here are some instructions how to tune the PID
	http://robotics.stackexchange.com/questions/167/what-are-good-strategies-for-tuning-pid-loops 
	*/

	// Angle regulator. This PID adjusts the desired angle (normally 0) depending 
	// on the mean speed of the robot. The goal is to keep the mean speed near 0. 
	// (robot is staying on one place and does not drive away)
	angleRegulator.init(-0.02, 0, 0); // P is negative, because to compensate positive speed we mast tilt the robot little bit back 

	// Speed regulator. This PID gets the desired angle from the angle regulator and 
	// adjusts the acceleration (power applied to motors) to keep the angle near the desired value.
	speedRegulator.init(35, 0.2, 0);

	wprintf(L"Press Esc to exit\n");
}

// the loop routine runs over and over again forever:
void loop()
{
	wprintf(L"Calibration in 3 seconds\n");
	delay(3000);
	wprintf(L"Calibrating...");
	gyroscope.calibrate();

	wprintf(L"Cycle tyme in microseconds: %ld \n", TICK_LENGTH_MICROSECONDS);

	// main cycle
	delay(100);

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