From 7a37d9f94d893e4158673cb2173c5067dd3ee6b7 Mon Sep 17 00:00:00 2001
From: Andy Killorin <37423245+Speedy6451@users.noreply.github.com>
Date: Tue, 29 Oct 2024 11:14:10 -0400
Subject: [PATCH] retuned pid for faster loop speed

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

diff --git a/lib/Romi32U4Motors/src/Romi32U4MotorTemplate.h b/lib/Romi32U4Motors/src/Romi32U4MotorTemplate.h
index c347b63..9e72bc3 100644
--- a/lib/Romi32U4Motors/src/Romi32U4MotorTemplate.h
+++ b/lib/Romi32U4Motors/src/Romi32U4MotorTemplate.h
@@ -25,10 +25,10 @@ protected:
     enum CTRL_MODE : uint8_t {CTRL_DIRECT, CTRL_SPEED};
     volatile CTRL_MODE ctrlMode = CTRL_DIRECT;
 
-    float Kp = 2.50; // proportional to error
-    float Ki = 0.03;
+    float Kp = 6.00; // proportional to error
+    float Ki = 0.05;
     float Kd = 0;
-    float Kf = 3.00; // proportional to setpoint
+    float Kf = 4.50; // proportional to setpoint
     int16_t C = 22; // constant added to effort
 
     // Used to keep track of the target speed, in counts / interval.