motor_ctrl: pid tuning

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 805788fa4267e43dbc148a5435dac2e618393a60..e69460dc0cdf86f8a0aeb20a67311b3deda1372f 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -101,16 +101,16 @@
 #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
 

diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex
index 24dd914b9dd2d4a61db019d9272668b97dd14f02..3f25e25e268d553ea8a029163f93af7e3ebc0689 100644 (file)
--- a/avr/motor_ctrl/main.hex
+++ b/avr/motor_ctrl/main.hex
@@ -1,683 +1,680 @@
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 :00000001FF\r

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 61d2511f0f3564548fcd789187e847e703d7039f..4b618abc657bf520303627a7bed05c535416138b 100644 (file)
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -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>