From 53f0e380462aa71c5539e04f60a8e2b7418037ba Mon Sep 17 00:00:00 2001 From: jenoack Date: Mon, 27 Mar 2023 18:43:15 +0200 Subject: [PATCH] update PID params --- vscode/Unendlichkeitsmaschine/src/main.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/vscode/Unendlichkeitsmaschine/src/main.cpp b/vscode/Unendlichkeitsmaschine/src/main.cpp index 771b88e..d51d90d 100644 --- a/vscode/Unendlichkeitsmaschine/src/main.cpp +++ b/vscode/Unendlichkeitsmaschine/src/main.cpp @@ -280,9 +280,9 @@ void data_init() Pid_params.current_speed = 0.0; Pid_params.err = 0; Pid_params.output = 0.0; - Pid_params.kp = 0.02; - Pid_params.ki = 0.006; - Pid_params.kd = 0.001; + Pid_params.kp = 0.002; + Pid_params.ki = 0.004; + Pid_params.kd = 0.0005; Pid_params.max_speed = MAX_SPEED; Pid_params.min_speed = MIN_SPEED; #ifdef MACHINE_RESTART