From a80993fef56041dd116289bf04bffd2f4afd3efc Mon Sep 17 00:00:00 2001 From: acki Date: Tue, 17 Mar 2026 18:34:47 +0100 Subject: [PATCH] fix a lot --- Core/Inc/modelec.h | 2 +- Core/Src/modelec.cpp | 8 ++++---- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/Core/Inc/modelec.h b/Core/Inc/modelec.h index f787018..894b91c 100644 --- a/Core/Inc/modelec.h +++ b/Core/Inc/modelec.h @@ -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; diff --git a/Core/Src/modelec.cpp b/Core/Src/modelec.cpp index 8306531..b65f5c3 100644 --- a/Core/Src/modelec.cpp +++ b/Core/Src/modelec.cpp @@ -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);