kani

Dependencies:   2017NHKpin_config FEP omni_wheel PID R1307 ikarashiMDC

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Branch:
noHMC
Revision:
40:e7fe8b2c1d21
Parent:
35:4608938f67c5
--- a/bot/PIDcontroller/PID_controller.h	Thu Oct 19 15:37:28 2017 +0900
+++ b/bot/PIDcontroller/PID_controller.h	Sat Oct 21 14:30:28 2017 +0900
@@ -27,12 +27,12 @@
 #include "PID.h"
 #include "HMC6352.h"
 
-const double KC = 8.2;
+const double KC = 5.2;
 const double TI = 0.0;
-const double TD = 0.0005;
+const double TD = 0.0;
 const float INTERVAL  = 0.01;
 const float INPUT_LIMIT = 360.0;
-const float OUTPUT_LIMIT = 0.4;
+const float OUTPUT_LIMIT = 0.6;
 const float BIAS = 0.0;
 const int SENSED_THRESHOLD = 1800;