George_Andreou/Robotex-Rally
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Update kp and kd

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Γιώργος Αντρέου 2025-06-27 21:51:57 +03:00
parent 078b5d4fa3
commit eecee24643
1 changed files with 2 additions and 2 deletions
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rally.py
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@ -24,8 +24,8 @@ DECAY_MODE = motor.SLOW_DECAY
UPDATE_RATE = 100 # Hz UPDATE_RATE = 100 # Hz
SLEEP_TIME = 1 / UPDATE_RATE SLEEP_TIME = 1 / UPDATE_RATE
BASE_THROTTLE = 0.85 # Base throttle for both motors BASE_THROTTLE = 0.85 # Base throttle for both motors
Kp_sync = 1 # Proportional gain for sync correction Kp_sync = 1.5 # Proportional gain for sync correction
Kd_sync = 0.01 Kd_sync = 0.04
prev_error = 0 prev_error = 0
# Create a digitalinout object for the user switch # Create a digitalinout object for the user switch