From 3b900f1d8a7d9810cae08d9d66c7d7d03b7d7e25 Mon Sep 17 00:00:00 2001
From: Simon Frei <simon-frei@hotmail.com>
Date: Sun, 18 Dec 2022 10:32:06 +0100
Subject: [PATCH] use tuned params (pid and turn)

---
 ADIS_Sumo/Sumo/Pid.c  | 10 +++++-----
 ADIS_Sumo/Sumo/Turn.c |  6 +++---
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/ADIS_Sumo/Sumo/Pid.c b/ADIS_Sumo/Sumo/Pid.c
index aa8b125..062c482 100644
--- a/ADIS_Sumo/Sumo/Pid.c
+++ b/ADIS_Sumo/Sumo/Pid.c
@@ -630,11 +630,11 @@ void PID_Init(void) {
   lineFwConfig.lastError = 0;
   lineFwConfig.integral = 0;
 #elif PL_IS_INTRO_ZUMO_ROBOT2 || PL_IS_INTRO_ZUMO_K22
-  lineFwConfig.pFactor100 = 5500;
+  lineFwConfig.pFactor100 = 4000;//5500;
   lineFwConfig.iFactor100 = 15;
-  lineFwConfig.dFactor100 = 100;
+  lineFwConfig.dFactor100 = 500;//100;
   lineFwConfig.iAntiWindup = 100000;
-  lineFwConfig.maxSpeedPercent = 40;
+  lineFwConfig.maxSpeedPercent = 25;//40;
   lineFwConfig.lastError = 0;
   lineFwConfig.integral = 0;
 #else
@@ -672,11 +672,11 @@ void PID_Init(void) {
   posLeftConfig.iAntiWindup = 200;
   posLeftConfig.maxSpeedPercent = 40;
 #elif (PL_CONFIG_APP_LINE_FOLLOWING || PL_CONFIG_APP_LINE_MAZE) /* line/maze, high speed */
-  posLeftConfig.pFactor100 = 1000;
+  posLeftConfig.pFactor100 = 2000;//1000;
   posLeftConfig.iFactor100 = 2;
   posLeftConfig.dFactor100 = 50;
   posLeftConfig.iAntiWindup = 200;
-  posLeftConfig.maxSpeedPercent = 40;
+  posLeftConfig.maxSpeedPercent = 35;//40;
 #else /* defaults */
   posLeftConfig.pFactor100 = 1000;
   posLeftConfig.iFactor100 = 1;
diff --git a/ADIS_Sumo/Sumo/Turn.c b/ADIS_Sumo/Sumo/Turn.c
index 094f59e..966ce2b 100644
--- a/ADIS_Sumo/Sumo/Turn.c
+++ b/ADIS_Sumo/Sumo/Turn.c
@@ -63,11 +63,11 @@
     #define TURN_STEPS_POST_LINE_TIMEOUT_MS 500
     #define TURN_STEPS_STOP_TIMEOUT_MS      150
   #elif PL_IS_INTRO_ZUMO_K22 /* no LiPo */
-    #define TURN_STEPS_90         720
+    #define TURN_STEPS_90         650//720
       /*!< number of steps for a 90 degree turn */
-    #define TURN_STEPS_LINE       100 /*230*/
+    #define TURN_STEPS_LINE       170//100 /*230*/
       /*!< number of steps stepping over the line */
-    #define TURN_STEPS_POST_LINE  150
+    #define TURN_STEPS_POST_LINE  240//150
       /*!< number of steps after the line, before making a turn */
     #define TURN_STEPS_90_TIMEOUT_MS        1000
     #define TURN_STEPS_LINE_TIMEOUT_MS      200