From 090cafff3c3d314edefad90036807d7596037099 Mon Sep 17 00:00:00 2001
From: Lucien Renaud <lucien.renaud@inria.fr>
Date: Tue, 24 May 2022 20:50:38 +0200
Subject: [PATCH] better PID tuning

---
 src/main.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main.cpp b/src/main.cpp
index beab5d7..beddc85 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -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()