From fb3bbc37372d56a30a191783da83a495d7c50059 Mon Sep 17 00:00:00 2001 From: EmaMaker Date: Tue, 28 Jun 2022 10:37:18 +0200 Subject: [PATCH] drivecontroller: recalibrate pid and velocities --- include/motors_movement/drivecontroller.h | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) diff --git a/include/motors_movement/drivecontroller.h b/include/motors_movement/drivecontroller.h index 3d1eab7..19c9398 100644 --- a/include/motors_movement/drivecontroller.h +++ b/include/motors_movement/drivecontroller.h @@ -10,19 +10,17 @@ //BEST NUMBERS YET //USE MOVING AVERAGE AND ANGLE WRAP -#define KP 2.2 -#define KI 0.01 -#define KD 0.0075 - -#define KSPD 0.3 +#define KP 4.2 +#define KI 0.1 +#define KD 0.3 #define UNLOCK_THRESH 800 //Max possible vel 310 // #define MAX_POSSIBLE_VEL 310 -#define MAX_POSSIBLE_VEL 280 -#define MAX_VEL 280 +#define MAX_POSSIBLE_VEL 310 +#define MAX_VEL MAX_POSSIBLE_VEL #define MAX_VEL_EIGTH ((int)MAX_VEL*0.8) #define MAX_VEL_HALF ((int)MAX_VEL*0.5) #define MAX_VEL_3QUARTERS ((int)MAX_VEL*0.75)