From be3c8a359b17943c29815aecd62e90847c277200 Mon Sep 17 00:00:00 2001
From: Andy Killorin <37423245+Speedy6451@users.noreply.github.com>
Date: Fri, 12 Dec 2025 13:39:08 -0500
Subject: [PATCH] tuning

---
 robot_controller/constants.h          | 2 +-
 robot_controller/robot_controller.ino | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/robot_controller/constants.h b/robot_controller/constants.h
index cedaf3e..03548ff 100644
--- a/robot_controller/constants.h
+++ b/robot_controller/constants.h
@@ -13,7 +13,7 @@ const float DEG_CM = (PI*WHEEL_DIAMETER) / 360.0;
 
 //const float FORWARD_DISTANCE = 73.0; // cm
 const float FORWARD_DISTANCE = 50.0; // cm
-const float TURN_AMOUNT = 210.0; // degrees
+const float TURN_AMOUNT = 180.0; // degrees
 const float TURN_DISTANCE = (TURN_AMOUNT / 360.0) * WHEEL_TO_WHEEL * PI;
 
 const float KP = 1.40; // proportional
diff --git a/robot_controller/robot_controller.ino b/robot_controller/robot_controller.ino
index 7fd2b6e..f38ba3d 100644
--- a/robot_controller/robot_controller.ino
+++ b/robot_controller/robot_controller.ino
@@ -49,9 +49,9 @@ void setup() {
 
     Wire.begin(); // INIT ARDUINO UNO AS I2C CONTROLLER
 
-		left_motor.tune_pos_pid(0.05, 0.014, 0.008);
+		left_motor.tune_pos_pid(0.4, 0.024, 0.008);
     delay(1);
-		right_motor.tune_pos_pid(0.05, 0.014, 0.008);
+		right_motor.tune_pos_pid(0.4, 0.024, 0.008);
     delay(1);
     left_motor.tune_vel_pid(Kv, KP,KI,KD);
     delay(1);