EmaMaker
/
Two-Wheel-Self-Balancing-Robot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Revert "pid: eyeballed for a fully charged battery" 

This reverts commit 23e63c7625.
main
EmaMaker 2024-01-12 13:34:05 +01:00
parent 9f02ddf349
commit b5798d2eb3
1 changed files with 4 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
firmware-arduino/selfbalance-madgwick/selfbalance-madgwick.ino
View File

@ -16,12 +16,12 @@ Pc = 0.083
PID Kp = 0.6Kc, Ti = 0.5Pc Td = 0.125Pc
Ki = KpTc/ti
Kd = KpTd/Tc
*/
*/
constexpr double KP = 6.2;
constexpr double KI = 0.25;
constexpr double KD = 0.15;
constexpr double KP = 5.8;
constexpr double KI = 0.2;
constexpr double KD = 0.1;
//double setpoint = -0.015;
double setpoint = 0.0;
@ -51,7 +51,6 @@ void setup(void) {
// myController.setWindUpLimits(-0.2 , 0.02);
myController.setSampleTime(1);
myController.start();
digitalWrite(LED_BUILTIN, LOW);