better PID tuning
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@ -70,8 +70,8 @@ void setup()
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motor.PID_velocity.I = 0.01;
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motor.PID_velocity.D = 0.0;
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motor.LPF_velocity.Tf = 0.01f;
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motor.P_angle.P = 200.0;
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motor.P_angle.I = 50.0;
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motor.P_angle.P = 120.0;
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motor.P_angle.I = 10.0;
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motor.velocity_limit = 50;
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motor.useMonitoring(Serial);
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@ -86,7 +86,7 @@ void setup()
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motor.linkSensor(&sensor);
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motor.init();
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motor.initFOC();
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motor.initFOC(5.48, CCW);
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}
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void loop()
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