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tuned pid for movment while on jacks

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This commit is contained in:
Andy Killorin 2025-12-10 01:12:59 -05:00
parent e7979208b6
commit 9d45a49d75
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
1 changed files with 7 additions and 7 deletions
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14
robot_controller/constants.h
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@ -4,7 +4,7 @@ const float ACCEL_LIMIT = 5.0; // cm/s/s
const float VEL_LIMIT = 15.0; // cm/s const float VEL_LIMIT = 15.0; // cm/s
const float BACKLASH_RIGHT = 0.0; // degrees const float BACKLASH_RIGHT = 0.0; // degrees
const float BACKLASH_LEFT = 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 const float WHEEL_TO_WHEEL = 0.0; // cm
// centimeters per second to rpm // 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 TURN_AMOUNT = 180.0; // degrees
const float RETURN_DISTANCE = 100.0; // cm const float RETURN_DISTANCE = 100.0; // cm
const float FF_ACCEL = 3.0; // motor acceleration feedforward const float FF_ACCEL = 0.7; // motor acceleration feedforward
const float FF_VEL = 3.9; // motor velocity feedforward const float FF_VEL = 0.6; // motor velocity feedforward
const float FF_STAT = 2.4; // motor static friction const float FF_STAT = 15.4; // motor static friction
const float KP = 3.0; // proportional const float KP = 2.0; // proportional
const float KI = 0.0; // integral const float KI = 0.5; // integral
const float KD = 0.0; // derivative const float KD = 0.05; // derivative