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added coeff for left motor

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This commit is contained in:
Andy Killorin 2025-12-07 14:35:42 -05:00
parent a15dc3d11d
commit c97954b815
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
1 changed files with 3 additions and 16 deletions
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19
robot_controller/robot_controller.ino
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@ -36,25 +36,12 @@ void setup() {
// TUNE VELOCITY PID
left_motor.tune_vel_pid(0.9, 3.7,0.3,0.0);
delay(10);
right_motor.tune_vel_pid(0.0, 3.7,0.3,0.0);
right_motor.tune_vel_pid(0.9, 3.7,0.3,0.0);
delay(10);
right_motor.set_direction(PIDDirection::DIRECT);
uint16_t ratio = right_motor.get_gear_ratio();
Serial.print("ratio: ");
Serial.println(ratio);
ratio = left_motor.get_gear_ratio();
Serial.print("ratio: ");
Serial.println(ratio);
//right_motor.set_direction(PIDDirection::DIRECT);
delay(1000);
// SET MOTOR POSITION
//int32_t angle=360;
//uint8_t status= left_motor.write_angle(angle);
//delay(1000);
// READ MOTOR POSITION
int32_t pos = left_motor.read_angle();
Serial.print("Pos: ");
@ -81,7 +68,7 @@ void loop() {
left_motor.write_rpm(setpoint.velocity * CMS_RPM);
delay(10);
right_motor.write_rpm(robot_state == TURN ? -velocity : velocity);
right_motor.write_rpm((robot_state == TURN ? velocity : -velocity) * CMS_RPM);
delay(10);
// READ MOTOR POSITION