From ba026d8229744a01818d38552ec7271e689d19eb Mon Sep 17 00:00:00 2001 From: lonkaars Date: Fri, 19 May 2023 14:50:22 +0200 Subject: update pid in arduino sketch --- zumo/pid.cpp | 9 ++++----- zumo/pid.h | 2 +- 2 files changed, 5 insertions(+), 6 deletions(-) (limited to 'zumo') diff --git a/zumo/pid.cpp b/zumo/pid.cpp index fabe1da..7c1cbda 100644 --- a/zumo/pid.cpp +++ b/zumo/pid.cpp @@ -41,13 +41,12 @@ void PID::reset(float value) { output = value; } -PID speed_pid(0.1, 0.0, 0.0); // TODO: tune these (garbage values) -PID steer_pid(0.1, 0.0, 0.0); -PID speed_mod_pid(1, 1, 1); +PID speed_pid = PID(); +PID steer_pid = PID(); +PID speed_mod_pid = PID(); void apply_pid(dui_state_t* target, dui_state_t* current) { current->speed = speed_pid.iter(target->speed); current->steer = steer_pid.iter(target->steer); - // current->speed_mod = speed_mod_pid.iter(current->speed_mod, target->speed_mod); - current->speed_mod = target->speed_mod; + current->speed_mod = speed_mod_pid.iter(target->speed_mod); } diff --git a/zumo/pid.h b/zumo/pid.h index ef733d6..beb73ac 100644 --- a/zumo/pid.h +++ b/zumo/pid.h @@ -11,7 +11,7 @@ private: const float N = 10.0; public: - PID(float P, float I, float D); + PID(float P = -0.02, float I = 0.13, float D = -300.0); float iter(float target); void reset(float value); }; -- cgit v1.2.3