Diff: main.cpp

Revision:

4:fce8c7458e97

Parent:

3:689f3f2e78e8

Child:

5:fd4eaf3cb09d

--- a/main.cpp	Fri Oct 19 09:06:28 2018 +0000
+++ b/main.cpp	Fri Oct 19 09:31:11 2018 +0000
@@ -7,14 +7,14 @@
 
 const float PI = 3.14159265359;
 const int PULSES_PER_ROTATION = 6533; // Amount of motor encoder pulses per rotation. When using X4 encoding.
-const float pid_period = 0.0001; // PID sample period in seconds.
+const float pid_period = 0.001; // PID sample period in seconds.
 
 const double Kp = 10.0;
-const double Ki = 0.5;
+const double Ki = 0.1;
 const double Kd = 0.5;
 
-const double motor_threshold_rps = 0.3; // Rad/s under which we send 0 to the motor, to prevent it from jittering around.
-const double motor_stall_pwm = 0.5; // PWM fraction above which the motor starts to move.
+const double motor_threshold_rps = 0.1; // Rad/s under which we send 0 to the motor, to prevent it from jittering around.
+const double motor_stall_pwm = 0.45; // PWM fraction above which the motor starts to move.
 
 int printcount = 0;