motor_ctrl: pid tuning
authorErik Andresen <erik@vontaene.de>
Fri, 28 Oct 2016 21:03:48 +0000 (23:03 +0200)
committerErik Andresen <erik@vontaene.de>
Fri, 28 Oct 2016 21:03:48 +0000 (23:03 +0200)
avr/motor_ctrl/main.c
avr/motor_ctrl/main.hex
launch/wild_thumper.launch

index 805788f..e69460d 100644 (file)
 #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
 // STEP_PER_M = 48*47/(d*pi)
-// Left real diameter: 0.12808
-#define STEP_PER_M_LEFT 5606.7
-// Right real diameter: 0.121
-#define STEP_PER_M_RIGHT 5934.8
+// 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
 
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 :00000001FF\r
index 61d2511..4b618ab 100644 (file)
@@ -15,7 +15,7 @@
                <rosparam command="load" file="$(find wild_thumper)/config/analyzers.yaml"/>
        </node>
 
-       <node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="false" required="true">
+       <node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="true" required="false">
                <param name="enable_odom_tf" value="true" unless="$(arg use_imu)"/>
                <param name="enable_odom_tf" value="false" if="$(arg use_imu)"/>
        </node>