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retuned pid for faster loop speed

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This commit is contained in:
Andy Killorin 2024-10-29 11:14:10 -04:00
parent 9483d84ad5
commit 7a37d9f94d
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
1 changed files with 3 additions and 3 deletions
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6
lib/Romi32U4Motors/src/Romi32U4MotorTemplate.h
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@ -25,10 +25,10 @@ protected:
enum CTRL_MODE : uint8_t {CTRL_DIRECT, CTRL_SPEED}; enum CTRL_MODE : uint8_t {CTRL_DIRECT, CTRL_SPEED};
volatile CTRL_MODE ctrlMode = CTRL_DIRECT; volatile CTRL_MODE ctrlMode = CTRL_DIRECT;
float Kp = 2.50; // proportional to error float Kp = 6.00; // proportional to error
float Ki = 0.03; float Ki = 0.05;
float Kd = 0; 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 int16_t C = 22; // constant added to effort
// Used to keep track of the target speed, in counts / interval. // Used to keep track of the target speed, in counts / interval.