modelec/odo_STM32
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fix a lot

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This commit is contained in:
acki
2026-03-17 18:34:47 +01:00
parent 60717cd99f
commit a80993fef5
2 changed files with 5 additions and 5 deletions
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2
Core/Inc/modelec.h
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@@ -61,7 +61,7 @@ public:
uint32_t lastTick = 0;
uint32_t publishLastTick = 0;
uint32_t frequencyPublish = 100;
uint32_t frequencyPublish = 300;
float preciseAngleFinal = 0.005f;
float preciseAngle = 0.39f;

8
Core/Src/modelec.cpp
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@@ -60,10 +60,10 @@ void DiffBot::stop(bool stop)
void DiffBot::setup()
{
pidLeft = PID(5.0f, 0.0f, 0.0f, -PWM_MAX, PWM_MAX);
pidRight = PID(5.0f, 0.0f, 0.0f, -PWM_MAX, PWM_MAX);
pidPos = PID(3.5f, 0.0f, 0.0f, -V_MAX, V_MAX);
pidTheta = PID(11.0f, 0.0f, 0.0f, -M_PI, M_PI);
pidLeft = PID(7.0f, 0.0f, 0.0f, -PWM_MAX, PWM_MAX);
pidRight = PID(7.0f, 0.0f, 0.0f, -PWM_MAX, PWM_MAX);
pidPos = PID(6.0f, 0.2f, 0.02f, -V_MAX, V_MAX);
pidTheta = PID(15.0f, 0.2f, 0.02f, -M_PI, M_PI);
prevCountLeft = __HAL_TIM_GET_COUNTER(&htim2);
prevCountRight = __HAL_TIM_GET_COUNTER(&htim3);