From adb0aa79a709ff81ade7f8663a600e87031ec1ea Mon Sep 17 00:00:00 2001
From: George_Andreou <george@theo-andreou.org>
Date: Fri, 27 Jun 2025 23:39:52 +0300
Subject: [PATCH] Update constants. Possibly the final one.

---
 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 a120faf..1f47585 100644
--- a/pid-example/pid-example.ino
+++ b/pid-example/pid-example.ino
@@ -4,9 +4,9 @@ QTRSensors qtr;
 const uint8_t SensorCount = 8;
 uint16_t sensorValues[SensorCount];
 
-float Kp = 0.09; //set up the constants value
-float Ki = 0.0009;
-float Kd = 0.3;
+float Kp = 0.085; //set up the constants value
+float Ki = 0.00004;
+float Kd = 0.65;
 int P;
 int I;
 int D;
@@ -15,14 +15,14 @@ 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 maxspeeda = 125;
+const uint8_t maxspeedb = 125;
 const uint8_t basespeeda = 100;
 const uint8_t basespeedb = 100;
 
 // adding minspeed so it can reverse
-const int minspeeda = -150;
-const int minspeedb = -150;
+const int minspeeda = -125;
+const int minspeedb = -125;
 
 //Set up the drive motor carrier pins
 int mode = 8;