test
Dependencies: Encoder_Nucleo_16_bits
Diff: PID.cpp
- Revision:
- 9:3480d6e6d2e3
- Parent:
- 8:4553677e8b99
diff -r 4553677e8b99 -r 3480d6e6d2e3 PID.cpp --- a/PID.cpp Tue Jun 05 13:33:28 2018 +0000 +++ b/PID.cpp Fri Jun 07 00:37:35 2019 +0000 @@ -10,9 +10,9 @@ _Rpwm.period_us(50); _Rpwm = 0; - _Kp = 2.0; - _Ki = 0.4; - _Kd = 1.0; + _Kp = 2.5; //2.0 + _Ki = 0.8; //0.4 + _Kd = 0.5; //1 } float PID::setProportionnalValue (float KpValue)