X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;f=avr%2Fmotor_ctrl%2Fmain.c;h=e69460dc0cdf86f8a0aeb20a67311b3deda1372f;hb=cc73472b4a28a4ea6a97d96621b3ca260be01098;hp=abbf5386146205c5b52c55780f9b971015ecf2be;hpb=c3db2ea74a51a2623b04d4bc5796c39be2e28453;p=ros_wild_thumper.git

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index abbf538..e69460d 100644
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -101,15 +101,17 @@
 #define TWI_RESET	TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
 #define TWI_NAK		TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 
-#define KP 0.06
-#define KI 0.10
+#define KP 0.061
+#define KI 0.12
 #define KD 0.0
 #define PID_T 0.01
-// wheel diameter=12cm, encoder=48cpr, gear ratio=1:47, real wheel diameter: 0.12454m
-#define STEP_PER_M_AVG 5766.1
-#define STEP_PER_M_LEFT (STEP_PER_M_AVG)
-#define STEP_PER_M_RIGHT (STEP_PER_M_AVG)
-#define WHEEL_DIST 0.36923 // Real: 0.252
+// wheel diameter=12cm, encoder=48cpr, gear ratio=1:47
+// STEP_PER_M = 48*47/(d*pi)
+// Left real diameter: 0.12808, Right real diameter: 0.121
+#define STEP_PER_M 5770.8
+#define STEP_PER_M_LEFT (STEP_PER_M)
+#define STEP_PER_M_RIGHT (STEP_PER_M)
+#define WHEEL_DIST 0.39912 // Measured: 0.252
 #define PWM_BREAK INT16_MIN
 
 enum mode {