pid: recalibrate pid

2020-12-23 21:23:03 +01:00 · 2020-12-23 21:23:03 +01:00 · f4863eab06
parent b4bc48b9ed
commit f4863eab06
1 changed files with 3 additions and 8 deletions
--- a/include/motors_movement/drivecontroller.h
+++ b/include/motors_movement/drivecontroller.h
@ -8,19 +8,14 @@
 #include "PID_v2.h"


-//PID Constants
+//BEST NUMBERS YET
+//USE MOVING AVERAGE AND ANGLE WRAP
 #define KP 1.5
-#define KI 0.2
+#define KI 0
 #define KD 0.1

 #define KSPD 0.3

-//BEST NUMBERS YET
-//USE MOVING AVERAGE AND ANGLE WRAP
-// #define KP 1.5
-// #define KI 0
-// #define KD 0.1
-
 #define UNLOCK_THRESH 800

 class DriveController{