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final tweaks

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ran perfectly with 9 cubes attempt 1
This commit is contained in:
Andy Killorin 2025-12-12 16:51:44 -05:00
parent 697487a0dd
commit 96a81eb2d1
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
2 changed files with 2 additions and 2 deletions
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2
robot_controller/constants.h
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@ -12,7 +12,7 @@ const float CMS_RPM = 60.0 / (PI*WHEEL_DIAMETER);
const float DEG_CM = (PI*WHEEL_DIAMETER) / 360.0; const float DEG_CM = (PI*WHEEL_DIAMETER) / 360.0;
const float FORWARD_DISTANCE = 100.0; // cm const float FORWARD_DISTANCE = 100.0; // cm
const float TURN_AMOUNT = 200.0; // degrees const float TURN_AMOUNT = 190.0; // 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 = 1.50; // proportional const float KP = 1.50; // proportional

2
robot_controller/robot_controller.ino
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@ -166,7 +166,7 @@ void loop() {
Serial.println(""); Serial.println("");
// move on if at setpoint TODO: give up after timeout // move on if at setpoint TODO: give up after timeout
if (setpoint.complete && (total_pos_error < 3.0 || time - end_time > 7.0)) { if (setpoint.complete && (total_pos_error < 3.0 || time - end_time > 5.0)) {
// rehome // rehome
right_home += (setpoint.position / DEG_CM); right_home += (setpoint.position / DEG_CM);
left_home += (turnsig * setpoint.position / DEG_CM); left_home += (turnsig * setpoint.position / DEG_CM);