X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fmotor_ctrl%2Fmain.c;h=7781fb4af01654b33ea2a53df04a1bbaf63b7967;hp=5d655290a7e8b78cb3efd33b881eaf85fafd3bfe;hb=d55fc1ff8c77515d29610d3940f35965ff202a90;hpb=b301eb19e6487497a8bb946c538a25aa4ee28c1d;ds=sidebyside

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 5d65529..7781fb4 100644
--- 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