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initial pidf tunings

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This commit is contained in:
Andy Killorin 2024-10-24 13:03:43 -04:00
parent d1ee6baccf
commit 3f2727464b
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
1 changed files with 6 additions and 3 deletions
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lib/Romi32U4Motors/src/Romi32U4MotorTemplate.h
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@ -25,14 +25,17 @@ protected:
volatile CTRL_MODE ctrlMode = CTRL_DIRECT; volatile CTRL_MODE ctrlMode = CTRL_DIRECT;
// TODO: After you tune your motors, set the gains here. // TODO: After you tune your motors, set the gains here.
float Kp = 1; float Kp = 2.50;
float Ki = 0; float Ki = 0.03;
float Kd = 0; float Kd = 0;
float Kf = 0; float Kf = 3.00;
// Used to keep track of the target speed, in counts / interval. // Used to keep track of the target speed, in counts / interval.
float targetSpeed = 0; 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". * This is the speed of the motor, in "encoder counts / encoder interval".
* The encoder interval is set in Robot::InitializeMotorControlTimer. * The encoder interval is set in Robot::InitializeMotorControlTimer.