EmaMaker
/
SPQR-Team-2019-REVAMPED
1
1
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

drivecontroller: recalibrate pid and velocities

pull/1/head
EmaMaker 2022-06-28 10:37:18 +02:00
parent d20d44c25e
commit fb3bbc3737
1 changed files with 5 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
include/motors_movement/drivecontroller.h
View File

@ -10,19 +10,17 @@
//BEST NUMBERS YET //BEST NUMBERS YET
//USE MOVING AVERAGE AND ANGLE WRAP //USE MOVING AVERAGE AND ANGLE WRAP
#define KP 2.2 #define KP 4.2
#define KI 0.01 #define KI 0.1
#define KD 0.0075 #define KD 0.3
#define KSPD 0.3
#define UNLOCK_THRESH 800 #define UNLOCK_THRESH 800
//Max possible vel 310 //Max possible vel 310
// #define MAX_POSSIBLE_VEL 310 // #define MAX_POSSIBLE_VEL 310
#define MAX_POSSIBLE_VEL 280 #define MAX_POSSIBLE_VEL 310
#define MAX_VEL 280 #define MAX_VEL MAX_POSSIBLE_VEL
#define MAX_VEL_EIGTH ((int)MAX_VEL*0.8) #define MAX_VEL_EIGTH ((int)MAX_VEL*0.8)
#define MAX_VEL_HALF ((int)MAX_VEL*0.5) #define MAX_VEL_HALF ((int)MAX_VEL*0.5)
#define MAX_VEL_3QUARTERS ((int)MAX_VEL*0.75) #define MAX_VEL_3QUARTERS ((int)MAX_VEL*0.75)