Diff: main.cpp

Revision:

32:137d0f27e5a8

Parent:

31:481ad25a40c3

Child:

33:7b94346bcead

diff -r 481ad25a40c3 -r 137d0f27e5a8 main.cpp
--- a/main.cpp	Thu Nov 01 14:14:03 2018 +0000
+++ b/main.cpp	Thu Nov 01 14:40:34 2018 +0000
@@ -68,9 +68,9 @@
 
 //Variables PID controller
 double PI = 3.14159;
-double Kp1 = 17.5;                                  //Motor 1           eerst 17.5 , nu 1
-double Ki1 = 1.02;
-double Kd1 = 15.5;
+double Kp1 = 30.0;                                  //Motor 1           eerst 17.5 , nu 1
+double Ki1 = 1.3;
+double Kd1 = 2.0;
 double encoder_radians1=0;
 double err_integral1 = 0;
 double err_prev1, err_prev2;
@@ -80,9 +80,9 @@
 BiQuad LowPassFilterDer2(0.0640, 0.1279, 0.0640, -1.1683, 0.4241);
 
 
-double Kp2 = 17.5;                                  //Motor 2            eerst 17.5, nu 1
-double Ki2 = 1.02;
-double Kd2 = 15.5;
+double Kp2 = 30.0;                                  //Motor 2            eerst 17.5, nu 1
+double Ki2 = 1.3;
+double Kd2 = 2.0;
 double encoder_radians2=0;
 double err_integral2 = 0;
 double u1, u2;