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Update DC motor parameters

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This commit is contained in:
Johnathon Slightham
2026-03-02 23:15:24 -05:00
parent da858d1ca6
commit 404d18cc0c
1 changed files with 4 additions and 4 deletions
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8
main/control/DCMotorActuator.cpp
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@@ -13,14 +13,14 @@
#define HIGH_DUTY 1000 #define HIGH_DUTY 1000
#define FWD_CHANNEL LEDC_CHANNEL_1 #define FWD_CHANNEL LEDC_CHANNEL_1
#define REV_CHANNEL LEDC_CHANNEL_0 #define REV_CHANNEL LEDC_CHANNEL_0
#define DEADZONE 0.5 #define DEADZONE 0.1
#define KP 0.07 #define KP 0.01
#define KI 0 #define KI 0
#define KD 0.065 #define KD 0.015
#define MIN_PWM_DUTY 675 #define MIN_PWM_DUTY 675
#define MAX_PWM_DUTY 1024 #define MAX_PWM_DUTY 1024
#define TICKS_PER_ROTATION 14.0 #define TICKS_PER_ROTATION 14.0
#define GEAR_RATIO 210 #define GEAR_RATIO 298
DCMotorActuator::DCMotorActuator() { DCMotorActuator::DCMotorActuator() {
ledc_timer_config_t ledc_timer = { ledc_timer_config_t ledc_timer = {