pid: recalibrate pid
parent
b4bc48b9ed
commit
f4863eab06
|
@ -8,19 +8,14 @@
|
||||||
#include "PID_v2.h"
|
#include "PID_v2.h"
|
||||||
|
|
||||||
|
|
||||||
//PID Constants
|
//BEST NUMBERS YET
|
||||||
|
//USE MOVING AVERAGE AND ANGLE WRAP
|
||||||
#define KP 1.5
|
#define KP 1.5
|
||||||
#define KI 0.2
|
#define KI 0
|
||||||
#define KD 0.1
|
#define KD 0.1
|
||||||
|
|
||||||
#define KSPD 0.3
|
#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
|
#define UNLOCK_THRESH 800
|
||||||
|
|
||||||
class DriveController{
|
class DriveController{
|
||||||
|
|
Loading…
Reference in New Issue