From 3f2727464bad798e4e8dde627c184dc7f25e5b6e Mon Sep 17 00:00:00 2001
From: Andy Killorin <37423245+Speedy6451@users.noreply.github.com>
Date: Thu, 24 Oct 2024 13:03:43 -0400
Subject: [PATCH] initial pidf tunings

---
 lib/Romi32U4Motors/src/Romi32U4MotorTemplate.h | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/lib/Romi32U4Motors/src/Romi32U4MotorTemplate.h b/lib/Romi32U4Motors/src/Romi32U4MotorTemplate.h
index afdb82a..ac56a29 100644
--- a/lib/Romi32U4Motors/src/Romi32U4MotorTemplate.h
+++ b/lib/Romi32U4Motors/src/Romi32U4MotorTemplate.h
@@ -25,14 +25,17 @@ protected:
     volatile CTRL_MODE ctrlMode = CTRL_DIRECT;
 
     // TODO: After you tune your motors, set the gains here.
-    float Kp = 1;
-    float Ki = 0;
+    float Kp = 2.50;
+    float Ki = 0.03;
     float Kd = 0;
-    float Kf = 0;
+    float Kf = 3.00;
 
     // Used to keep track of the target speed, in counts / interval.
     float targetSpeed = 0;
 
+    // maximum accelration in counts/interval
+    float TRAPEZOIDAL_RAMP_RATE = 0;
+
     /**
      * This is the speed of the motor, in "encoder counts / encoder interval".
      * The encoder interval is set in Robot::InitializeMotorControlTimer.