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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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7
firmware-arduino/selfbalance-madgwick/selfbalance-madgwick.ino
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@ -19,9 +19,9 @@ 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;
@ -53,7 +53,6 @@ void setup(void) {
myController.start();
digitalWrite(LED_BUILTIN, LOW);
}