ank/ES3011
1
Fork 0
Code Releases Activity

tuning

Browse source
This commit is contained in:
Andy Killorin 2025-12-12 13:39:08 -05:00
parent 1a388de3fe
commit be3c8a359b
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
2 changed files with 3 additions and 3 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

2
robot_controller/constants.h
View file

@ -13,7 +13,7 @@ const float DEG_CM = (PI*WHEEL_DIAMETER) / 360.0;
//const float FORWARD_DISTANCE = 73.0; // cm //const float FORWARD_DISTANCE = 73.0; // cm
const float FORWARD_DISTANCE = 50.0; // 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 TURN_DISTANCE = (TURN_AMOUNT / 360.0) * WHEEL_TO_WHEEL * PI;
const float KP = 1.40; // proportional const float KP = 1.40; // proportional

4
robot_controller/robot_controller.ino
View file

@ -49,9 +49,9 @@ void setup() {
Wire.begin(); // INIT ARDUINO UNO AS I2C CONTROLLER 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); 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); delay(1);
left_motor.tune_vel_pid(Kv, KP,KI,KD); left_motor.tune_vel_pid(Kv, KP,KI,KD);
delay(1); delay(1);