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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
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12
include/motors_movement/drivecontroller.h
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@ -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)