PID tuned for 3S

2023-07-22 18:05:52 -03:00
parent 0a53fdcb2f
commit 181dbd202e
3 changed files with 4 additions and 4 deletions
--- a/Code/STM32/Core/Src/Components/Robot.cpp
+++ b/Code/STM32/Core/Src/Components/Robot.cpp
@@ -62,11 +62,11 @@ void Robot::init(){
 	debug.info("Init ESP8266 end");
 	motor0.setEncoder(&encoder0);
 	motor1.setEncoder(&encoder1);
-	motor0.kp = 1.7198/CONVERSION;
-	motor0.ki = 46.62/(ticksPerSecond*CONVERSION);
+	motor0.kp = 1.3016/CONVERSION;
+	motor0.ki = 22.3758/(ticksPerSecond*CONVERSION);
 	motor0.kd = 0*ticksPerSecond/CONVERSION;
-	motor1.kp = 0.0017198/CONVERSION;
-	motor1.ki = 0.04662/(ticksPerSecond*CONVERSION);
+	motor1.kp = 1.3016/CONVERSION;
+	motor1.ki = 22.3758/(ticksPerSecond*CONVERSION);
 	motor1.kd = 0*ticksPerSecond/CONVERSION;
 	debug.info("Init timers begin");
 	//HAL_TIM_Encoder_Start(&htim1, TIM_CHANNEL_1);
--- a/Code/Untitled
+++ b/Code/Untitled
--- a/Code/pidTuner/PID_differential_3S.mat
+++ b/Code/pidTuner/PID_differential_3S.mat