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Update PID tuning

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This commit is contained in:
Johnathon Slightham
2026-03-03 23:26:22 -05:00
parent 5eca9c0a35
commit 94237011be
1 changed files with 4 additions and 3 deletions
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7
main/control/DCMotorActuator.cpp
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@@ -8,18 +8,19 @@
#include "esp_attr.h" #include "esp_attr.h"
#include "flatbuffers_generated/SensorMessage_generated.h" #include "flatbuffers_generated/SensorMessage_generated.h"
#include "util/number_utils.h" #include "util/number_utils.h"
#include "esp_log.h"
#define LOW_DUTY 200 #define LOW_DUTY 200
#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 0.1 #define DEADZONE 0.05
#define KP 0.01 #define KP 0.01
#define KI 0 #define KI 0
#define KD 0.015 #define KD 0.020
#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 18.0
#define GEAR_RATIO 298 #define GEAR_RATIO 298
DCMotorActuator::DCMotorActuator() { DCMotorActuator::DCMotorActuator() {