From 56f25b746b70a0c9286ffdf7013479e2249af49d Mon Sep 17 00:00:00 2001
From: George_Andreou <george@theo-andreou.org>
Date: Sat, 29 Jun 2024 00:51:02 +0300
Subject: [PATCH] fix kp

---
 pid-example/pid-example.ino | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/pid-example/pid-example.ino b/pid-example/pid-example.ino
index d5bb616..09a2d2e 100644
--- a/pid-example/pid-example.ino
+++ b/pid-example/pid-example.ino
@@ -4,7 +4,7 @@ QTRSensors qtr;
 const uint8_t SensorCount = 8;
 uint16_t sensorValues[SensorCount];
 
-float Kp = 0.07;//set up the constants value
+float Kp = 0.09;//set up the constants value
 float Ki = 0.0008;
 float Kd = 0.34;
 int P;
@@ -15,10 +15,10 @@ int lastError = 0;
 boolean onoff = false;
 
 //Increasing the maxspeed can damage the motors - at a value of 255 the 6V motors will receive 7,4 V 
-const uint8_t maxspeeda = 200;
-const uint8_t maxspeedb = 200;
-const uint8_t basespeeda = 170;
-const uint8_t basespeedb = 170;
+const uint8_t maxspeeda = 150;
+const uint8_t maxspeedb = 150;
+const uint8_t basespeeda = 100;
+const uint8_t basespeedb = 100;
 
 //Set up the drive motor carrier pins
 int mode = 8;
@@ -86,8 +86,8 @@ void loop() {
 }
 void forward_brake(int posa, int posb) {
   //set the appropriate values for aphase and bphase so that the robot goes straight
-  digitalWrite(aphase, HIGH);
-  digitalWrite(bphase, LOW	);
+  digitalWrite(aphase, LOW);
+  digitalWrite(bphase, HIGH);
   analogWrite(aenbl, posa);
   analogWrite(benbl, posb);
 }