updated motor pid values

[ros_wild_thumper.git] / avr / motor_ctrl / main.c

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index a9565871f0058d7f2585f28ea5f2ca64b55694ca..16c8b0cc2d0c2a51d364d00b603270f79d58e20a 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -97,7 +97,7 @@
  */
 
 
-#define KP 0.061
+#define KP 0.062
 #define KI 0.12
 #define KD 0.0
 #define PID_T 0.01
@@ -1043,8 +1043,8 @@ int main(void) {
        TWI_RESET;
 
        // Motor 1 & 2
-       // Also used for PWM frequency TIMER1_FREQ
-       // Timer 1: Fast PWM non-inverting mode, Top=255 => 15.625kHz
+       // Also used for PWM frequency TIMER1_FREQ (F_CPU/256)
+       // Timer 1: Fast PWM non-inverting mode, Top=255 => 19.531kHz
        // Prescaler=1
        //TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10);
        // Avoid narrow spike on extreme pwm value 0 by not setting COM1*1
@@ -1125,7 +1125,7 @@ int main(void) {
                        motor4_mode = MOTOR_PID;
                }
 
-               if (run_update >= 156) { // TIMER1_FREQ/156 = ~100Hz
+               if (run_update >= 195) { // TIMER1_FREQ/195 = ~100Hz
                        run_update=0;
 
                        update_pos();