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Two-Wheel-Self-Balancing-Robot
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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
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9
firmware-arduino/selfbalance-madgwick/selfbalance-madgwick.ino
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@ -16,12 +16,12 @@ Pc = 0.083
PID Kp = 0.6Kc, Ti = 0.5Pc Td = 0.125Pc PID Kp = 0.6Kc, Ti = 0.5Pc Td = 0.125Pc
Ki = KpTc/ti Ki = KpTc/ti
Kd = KpTd/Tc Kd = KpTd/Tc
*/ */
constexpr double KP = 6.2; constexpr double KP = 5.8;
constexpr double KI = 0.25; constexpr double KI = 0.2;
constexpr double KD = 0.15; constexpr double KD = 0.1;
//double setpoint = -0.015; //double setpoint = -0.015;
double setpoint = 0.0; double setpoint = 0.0;
@ -51,7 +51,6 @@ void setup(void) {
// myController.setWindUpLimits(-0.2 , 0.02); // myController.setWindUpLimits(-0.2 , 0.02);
myController.setSampleTime(1); myController.setSampleTime(1);
myController.start(); myController.start();
digitalWrite(LED_BUILTIN, LOW); digitalWrite(LED_BUILTIN, LOW);