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Bot can balance by itself again

This commit is contained in:
Stedd 2023-10-22 02:07:22 +02:00
parent 3a680f84c8
commit 141a03cb84
1 changed files with 1 additions and 1 deletions
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motorControl.ino
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@ -13,13 +13,13 @@ const float DEADBAND_M2_NEG = 90.0;
//Tuning //Tuning
const float gainScale = 0.75;
const float K_SC = 18.5*gainScale; //Speed controller gain const float K_SC = 18.5*gainScale; //Speed controller gain
const float K_TC = 90.0*gainScale; //Turn controller gain const float K_TC = 90.0*gainScale; //Turn controller gain
const float K_OL = 13.0*gainScale; //Outer loop balance controller gain const float K_OL = 13.0*gainScale; //Outer loop balance controller gain
const float K_IL = 72.0*gainScale; //Inner loop balance controller gain const float K_IL = 72.0*gainScale; //Inner loop balance controller gain
const float I_IL = 80.0*gainScale; //Inner loop balance controller Igain const float I_IL = 80.0*gainScale; //Inner loop balance controller Igain
const float filter_gain = 16.0; //Motor speed LPF gain const float filter_gain = 16.0; //Motor speed LPF gain
const float gainScale = 1;
//Help variables //Help variables
int M1_Speed_CMD, M2_Speed_CMD; int M1_Speed_CMD, M2_Speed_CMD;