Revert pid changes and update steps per m

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 5d655290a7e8b78cb3efd33b881eaf85fafd3bfe..7781fb4af01654b33ea2a53df04a1bbaf63b7967 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -97,14 +97,14 @@
  */
 
 
-#define KP 0.09
-#define KI 0.07
+#define KP 0.062
+#define KI 0.12
 #define KD 0.0
 #define PID_T 0.01
 // 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 5573.0
 #define STEP_PER_M_LEFT (STEP_PER_M)
 #define STEP_PER_M_RIGHT (STEP_PER_M)
 #define WHEEL_DIST 0.39912 // Measured: 0.252

diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex
index aef12fea312558fcd42ff6c98387bc7a9f50a435..1707ad2254c3fe8e2c3fb11850b09ae46dd96275 100644 (file)
--- a/avr/motor_ctrl/main.hex
+++ b/avr/motor_ctrl/main.hex
@@ -73,7 +73,7 @@
 :10048000D3008093D20081E08093DC00E3C123B1EC\r
 :100490008091A4009091A500A091A600B091A70022\r
 :1004A0006627782F892F9A2F622B6093A400709370\r
-:1004B000A5008093A6009093A70026E636E544EBBE\r
+:1004B000A5008093A6009093A70020E038E24EEAC2\r
 :1004C00055E40E94E9110E94C9107093D90060930D\r
 :1004D000D8007093D7006093D60081E08093DF004E\r
 :1004E0008093DE00B7C183B190E0A0E0B0E00EC021\r
@@ -210,8 +210,8 @@
 :100D10000E94E91120E030E040E05FE30E94E91129\r
 :100D2000A50194010E94F60F6B017C01A5019401BD\r
 :100D3000C501B4010E94F60FA70196010E94F50FAC\r
-:100D400026E636E544EB55E40E94E9114B015C01CF\r
-:100D500026E636E544EB55E4C701B6010E94E911E9\r
+:100D400020E038E24EEA55E40E94E9114B015C01D3\r
+:100D500020E038E24EEA55E4C701B6010E94E911ED\r
 :100D60006B017C018091AA008823C9F18091AA00BF\r
 :100D700024E630E0281B3109B901882777FD8095EA\r
 :100D8000982F0E94FC109B01AC01C501B4010E9488\r
@@ -250,10 +250,10 @@
 :100F90007E8B8F8B988FB201882777FD8095982F55\r
 :100FA0000E94FC102AE037ED43E25CE30E946110EE\r
 :100FB0000E94C910698F7A8F8B8F9C8FB7016C0D3F\r
-:100FC0007D1D882777FD8095982F0E94FC1026E6CE\r
-:100FD00036E544E356E40E9461104B015C01B30125\r
+:100FC0007D1D882777FD8095982F0E94FC1020E0DA\r
+:100FD00038E24EE256E40E9461104B015C01B3011D\r
 :100FE000640D751D882777FD8095982F0E94FC1051\r
-:100FF00026E636E544E356E40E9461102B013C01ED\r
+:100FF00020E038E24EE256E40E9461102B013C01F1\r
 :10100000A50194010E94F50F25E739E54CEC5EE35C\r
 :101010000E94611069877A878B879C876091B500F1\r
 :101020007091B6008091B7009091B80029853A85FB\r
@@ -321,9 +321,9 @@
 :10140000B90AB501882777FD8095982FC0908E0086\r
 :10141000D0908F00E0909000F0909100C60ED71E03\r
 :10142000E81EF91EC0928E00D0928F00E0929000CC\r
-:10143000F09291000E94FC102CEE31E548EB5DE348\r
+:10143000F09291000E94FC1026EB33EF4DE75DE344\r
 :101440000E94E9112B013C01C701B6010E94FC106A\r
-:1014500024E330E847E35AE30E94E9119B01AC0121\r
+:1014500021E539E44DE95AE30E94E9119B01AC0111\r
 :10146000C301B2010E94F60F6B017C0180918000E4\r
 :1014700090918100B501681B790B882777FD8095D5\r
 :10148000982F0E94FC1020E030E0A9010E94E91191\r
@@ -349,9 +349,9 @@
 :1015C000B90AB501882777FD8095982FC0908A00C9\r
 :1015D000D0908B00E0908C00F0908D00C60ED71E4E\r
 :1015E000E81EF91EC0928A00D0928B00E0928C0017\r
-:1015F000F0928D000E94FC102CEE31E548EB5DE38B\r
+:1015F000F0928D000E94FC1026EB33EF4DE75DE387\r
 :101600000E94E9112B013C01C701B6010E94FC10A8\r
-:1016100024E330E847E35AE30E94E9119B01AC015F\r
+:1016100021E539E44DE95AE30E94E9119B01AC014F\r
 :10162000C301B2010E94F60F6B017C0180917E0024\r
 :1016300090917F00B501681B790B882777FD809515\r
 :10164000982F0E94FC1020E030E0A9010E94E911CF\r
@@ -377,9 +377,9 @@
 :10178000B90AB501882777FD8095982FC09086000B\r
 :10179000D0908700E0908800F0908900C60ED71E98\r
 :1017A000E81EF91EC0928600D0928700E092880061\r
-:1017B000F09289000E94FC102CEE31E548EB5DE3CD\r
+:1017B000F09289000E94FC1026EB33EF4DE75DE3C9\r
 :1017C0000E94E9112B013C01C701B6010E94FC10E7\r
-:1017D00024E330E847E35AE30E94E9119B01AC019E\r
+:1017D00021E539E44DE95AE30E94E9119B01AC018E\r
 :1017E000C301B2010E94F60F6B017C0180917C0065\r
 :1017F00090917D00B501681B790B882777FD809556\r
 :10180000982F0E94FC1020E030E0A9010E94E9110D\r
@@ -405,9 +405,9 @@
 :10194000B90AB501882777FD8095982FC09082004D\r
 :10195000D0908300E0908400F0908500C60ED71EE2\r
 :10196000E81EF91EC0928200D0928300E0928400AB\r
-:10197000F09285000E94FC102CEE31E548EB5DE30F\r
+:10197000F09285000E94FC1026EB33EF4DE75DE30B\r
 :101980000E94E9112B013C01C701B6010E94FC1025\r
-:1019900024E330E847E35AE30E94E9119B01AC01DC\r
+:1019900021E539E44DE95AE30E94E9119B01AC01CC\r
 :1019A000C301B2010E94F60F6B017C0180917A00A5\r
 :1019B00090917B00B501681B790B882777FD809596\r
 :1019C000982F0E94FC1020E030E0A9010E94E9114C\r