From 5720dcc638099ffa26abab0f7069bb29d2daa478 Mon Sep 17 00:00:00 2001
From: Samuel Tardieu <sam@rfc1149.net>
Date: Fri, 12 Jul 2024 08:33:55 +0200
Subject: [PATCH] Adapt PID coefficients to updated speed ranges
---
controller/python/localpid.py | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/controller/python/localpid.py b/controller/python/localpid.py
index b0bd33a..7a793a2 100644
--- a/controller/python/localpid.py
+++ b/controller/python/localpid.py
@@ -5,15 +5,15 @@
from controller import Controller
import time
-k_p = 0.3
-k_i = 0.005
+k_p = 0.25
+k_i = 0.004
k_d = 0
min_speed = 0
precision = 10
-# distance and max_speed are in ticks
+# distance and max_speed are in ticks, max_motor_speed
def advance(c, distance, max_speed):
# Configure motor speed
c.set_max_percentage(100)
@@ -93,7 +93,7 @@ def command(err, acc, der):
c = Controller()
assert c.who_am_i() == 0x57
try:
- advance(c, 20000, 50)
+ advance(c, 20000, 40)
# advance(c, -10000, 50)
except KeyboardInterrupt:
print("Stopping engine")
--
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