lurenaud/DJI-Gimbal-FOC
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better PID tuning

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This commit is contained in:
Lucien Renaud 2022-05-24 20:50:38 +02:00
parent d997d4bb0c
commit 090cafff3c
1 changed files with 3 additions and 3 deletions
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6
src/main.cpp
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@ -70,8 +70,8 @@ void setup()
motor.PID_velocity.I = 0.01; motor.PID_velocity.I = 0.01;
motor.PID_velocity.D = 0.0; motor.PID_velocity.D = 0.0;
motor.LPF_velocity.Tf = 0.01f; motor.LPF_velocity.Tf = 0.01f;
motor.P_angle.P = 200.0; motor.P_angle.P = 120.0;
motor.P_angle.I = 50.0; motor.P_angle.I = 10.0;
motor.velocity_limit = 50; motor.velocity_limit = 50;
motor.useMonitoring(Serial); motor.useMonitoring(Serial);
@ -86,7 +86,7 @@ void setup()
motor.linkSensor(&sensor); motor.linkSensor(&sensor);
motor.init(); motor.init();
motor.initFOC(); motor.initFOC(5.48, CCW);
} }
void loop() void loop()