From f4863eab0652c175edf61ae7f8092ed50a44c1e4 Mon Sep 17 00:00:00 2001
From: EmaMaker <emamaker0@gmail.com>
Date: Wed, 23 Dec 2020 21:23:03 +0100
Subject: [PATCH] pid: recalibrate pid

---
 include/motors_movement/drivecontroller.h | 11 +++--------
 1 file changed, 3 insertions(+), 8 deletions(-)

diff --git a/include/motors_movement/drivecontroller.h b/include/motors_movement/drivecontroller.h
index 280d851..64fddc9 100644
--- 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{