From 9d45a49d75a3108bc2dc0c738daf285b949162b2 Mon Sep 17 00:00:00 2001
From: Andy Killorin <37423245+Speedy6451@users.noreply.github.com>
Date: Wed, 10 Dec 2025 01:12:59 -0500
Subject: [PATCH] tuned pid for movment while on jacks

---
 robot_controller/constants.h | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/robot_controller/constants.h b/robot_controller/constants.h
index 04bca67..5d760dc 100644
--- a/robot_controller/constants.h
+++ b/robot_controller/constants.h
@@ -4,7 +4,7 @@ const float ACCEL_LIMIT = 5.0; // cm/s/s
 const float VEL_LIMIT = 15.0; // cm/s
 const float BACKLASH_RIGHT = 0.0; // degrees
 const float BACKLASH_LEFT = 0.0; // degrees
-const float WHEEL_DIAMETER = 6.37; // cm
+const float WHEEL_DIAMETER = 10.00; // cm
 const float WHEEL_TO_WHEEL = 0.0; // cm
 
 // centimeters per second to rpm
@@ -17,9 +17,9 @@ const float FORWARD_DISTANCE = 30.0; // cm
 const float TURN_AMOUNT = 180.0; // degrees
 const float RETURN_DISTANCE = 100.0; // cm
 
-const float FF_ACCEL = 3.0; // motor acceleration feedforward
-const float FF_VEL = 3.9; // motor velocity feedforward
-const float FF_STAT = 2.4; // motor static friction
-const float KP = 3.0; // proportional
-const float KI = 0.0; // integral
-const float KD = 0.0; // derivative
+const float FF_ACCEL = 0.7; // motor acceleration feedforward
+const float FF_VEL = 0.6; // motor velocity feedforward
+const float FF_STAT = 15.4; // motor static friction
+const float KP = 2.0; // proportional
+const float KI = 0.5; // integral
+const float KD = 0.05; // derivative