From 181dbd202e46ac52d80f27c62c9f932ef489bb2b Mon Sep 17 00:00:00 2001 From: Gabriel Date: Sat, 22 Jul 2023 18:05:52 -0300 Subject: [PATCH] PID tuned for 3S --- Code/STM32/Core/Src/Components/Robot.cpp | 8 ++++---- Code/Untitled 1.vi | Bin 21482 -> 21478 bytes Code/pidTuner/PID_differential_3S.mat | Bin 0 -> 5302 bytes 3 files changed, 4 insertions(+), 4 deletions(-) create mode 100644 Code/pidTuner/PID_differential_3S.mat diff --git a/Code/STM32/Core/Src/Components/Robot.cpp b/Code/STM32/Core/Src/Components/Robot.cpp index 31c9e65..06e6f48 100644 --- 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); diff --git a/Code/Untitled 1.vi b/Code/Untitled 1.vi index c2c55fcbd0a39c7aa0733108c8053145ba707ceb..a15a7aba6a0df07013f8441003ca2b60b36f3156 100644 GIT binary patch delta 7559 zcmZu$WmFtplOBBV!975NhrvA%+})j!5ZnR-!RY}83$DSPpo2RE2=4A75Q0OH1PKsi zdB5E~yL8iRYJ1VZ}_ z0)ZGF^|=HFIxG+>QTCc*=uflxqbsGg7KqfLVZfxN1` zvyRMh{q_3ibKCvA>e`o?GnrAI#;qdSM`ekFYXWxj_a-^Arb|*~I7bwI zYfX6XteCcN25v9QyA3>&fp=Pw@fRmP!rlb3f0lGn@x++*Aki_LW=xm9ec!D5kV2ue zG6DaN9HlBJ+kL_i6{9=tkmLKb5q$!kjYlLTR7e29O%En;01ywO%;I zZaUO^yQ0OpQv2Q62rro;RywW$IPuT|i-MXG8DCjg;^#kWeo~m$!A>cN4}EJUevx?8W=pq*{Dr;1~Vr3xP=>~B>LN0W0xb0-4-8zl4Y(;OIE$RY^qhAZq z-$Vl=NST+Tl;trU07A$c%Pz!Js&NDCbitrc2jee&*8L}Ww>k8wj4aO*(ZSETvh6>_ 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