Updated and refined for the Robotex 2023 competition!

This should enable the robot to get higher speeds than last year. At our test drive its best time was around 10-11 seconds.

pid-example/pid-example.ino

@@ -6,7 +6,7 @@ uint16_t sensorValues[SensorCount];
 
 float Kp = 0.07;//set up the constants value
 float Ki = 0.0008;
-float Kd = 0.6;
+float Kd = 0.34;
 int P;
 int I;
 int D;
@@ -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 = 150;
-const uint8_t maxspeedb = 150;
-const uint8_t basespeeda = 100;
-const uint8_t basespeedb = 100;
+const uint8_t maxspeeda = 200;
+const uint8_t maxspeedb = 200;
+const uint8_t basespeeda = 150;
+const uint8_t basespeedb = 150;
 
 //Set up the drive motor carrier pins
 int mode = 8;