better PID tuning

This commit is contained in:
Lucien Renaud 2022-05-24 20:50:38 +02:00
parent d997d4bb0c
commit 090cafff3c

View File

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