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Andy Killorin 2025-12-12 12:55:49 -05:00
parent 4910f99a33
commit 1e070076f4
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
1 changed files with 6 additions and 6 deletions
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robot_controller/constants.h
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@ -16,10 +16,10 @@ const float FORWARD_DISTANCE = 40.0; // cm
const float TURN_AMOUNT = 146.0; // degrees const float TURN_AMOUNT = 146.0; // degrees
const float TURN_DISTANCE = (TURN_AMOUNT / 360.0) * WHEEL_TO_WHEEL * PI; const float TURN_DISTANCE = (TURN_AMOUNT / 360.0) * WHEEL_TO_WHEEL * PI;
const float KP = 1.30; // proportional const float KP = 1.40; // proportional
const float KI = 0.20; // integral const float KI = 0.10; // integral
const float KD = 0.01; // derivative const float KD = 0.00; // derivative
const float Kv = 1.5; // onboard velocity feedforward const float Kv = 1.8; // onboard velocity feedforward
const float KPP = 0.0; // position proportional const float KPP = 0.08; // position proportional
const float KPI = 0.0; // position integral const float KPI = 0.04; // position integral
const float KRP = 0.0; // rotation proportional const float KRP = 0.0; // rotation proportional