X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fpid_manual.py;h=9b6b60a1781eab92ee1a6119b641471abf4ead21;hp=77a7bce3f39a40cbef907d60296db2f6f5cfb313;hb=581514e44d63392698ca47b9e50d0288e3fadbdb;hpb=8786ef14dfb5b65efa0a260d91e569aa819aac14

diff --git a/scripts/pid_manual.py b/scripts/pid_manual.py
index 77a7bce..9b6b60a 100755
--- a/scripts/pid_manual.py
+++ b/scripts/pid_manual.py
@@ -6,11 +6,11 @@ import struct
 from time import sleep
 from i2c import i2c_write_reg, i2c_read_reg
 
-KP=0.034
-KI=0.02
+KP=0.05
+KI=0.0
 KD=0.0
 PID_T=0.01
-STEP_PER_M_AVG=4171.4
+STEP_PER_M_AVG=5766.1
 eold1 = 0.0
 eold2 = 0.0
 eold3 = 0.0
@@ -80,8 +80,6 @@ if __name__ == "__main__":
 			elif (motor3 > 255): motor3 = 255
 			elif (motor3 < -255): motor3 = -255
 
-			print "Wish=", speed3_wish, "Speed=", speed3, "e=", e, "esum=", esum3, "pwm=", motor3, "error=", error
-
 		if speed4_wish == 0: 
 			motor4 = 0.0
 			eold4 = 0.0
@@ -97,6 +95,8 @@ if __name__ == "__main__":
 			elif (motor4 > 255): motor4 = 255
 			elif (motor4 < -255): motor4 = -255
 
+			print "Wish=", speed4_wish, "Speed=", speed4, "e=", e, "esum=", esum4, "pwm=", motor4, "error=", error
+
 		set_pwm(motor1, motor2, motor3, motor4)
 
 		sleep(PID_T)