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Updated and refined for the Robotex 2023 competition!

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This should enable the robot to get higher speeds than last year. At our test drive its best time was around 10-11 seconds.
This commit is contained in:
Γιώργος Αντρέου 2023-07-01 00:02:45 +03:00
parent 528be81e61
commit 6163744cc9
1 changed files with 5 additions and 5 deletions
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10
pid-example/pid-example.ino
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@ -6,7 +6,7 @@ uint16_t sensorValues[SensorCount];
float Kp = 0.07;//set up the constants value float Kp = 0.07;//set up the constants value
float Ki = 0.0008; float Ki = 0.0008;
float Kd = 0.6; float Kd = 0.34;
int P; int P;
int I; int I;
int D; int D;
@ -15,10 +15,10 @@ int lastError = 0;
boolean onoff = false; boolean onoff = false;
//Increasing the maxspeed can damage the motors - at a value of 255 the 6V motors will receive 7,4 V //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 maxspeeda = 200;
const uint8_t maxspeedb = 150; const uint8_t maxspeedb = 200;
const uint8_t basespeeda = 100; const uint8_t basespeeda = 150;
const uint8_t basespeedb = 100; const uint8_t basespeedb = 150;
//Set up the drive motor carrier pins //Set up the drive motor carrier pins
int mode = 8; int mode = 8;