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use tuned params (pid and turn)

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Simon Frei 4 years ago
parent d43c04d3ad
commit 3b900f1d8a
2 changed files with 8 additions and 8 deletions
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  1. 10
      ADIS_Sumo/Sumo/Pid.c
  2. 6
      ADIS_Sumo/Sumo/Turn.c

10
ADIS_Sumo/Sumo/Pid.c
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@ -630,11 +630,11 @@ void PID_Init(void) {
lineFwConfig.lastError = 0; lineFwConfig.lastError = 0;
lineFwConfig.integral = 0; lineFwConfig.integral = 0;
#elif PL_IS_INTRO_ZUMO_ROBOT2 || PL_IS_INTRO_ZUMO_K22 #elif PL_IS_INTRO_ZUMO_ROBOT2 || PL_IS_INTRO_ZUMO_K22
lineFwConfig.pFactor100 = 5500; lineFwConfig.pFactor100 = 4000;//5500;
lineFwConfig.iFactor100 = 15; lineFwConfig.iFactor100 = 15;
lineFwConfig.dFactor100 = 100; lineFwConfig.dFactor100 = 500;//100;
lineFwConfig.iAntiWindup = 100000; lineFwConfig.iAntiWindup = 100000;
lineFwConfig.maxSpeedPercent = 40; lineFwConfig.maxSpeedPercent = 25;//40;
lineFwConfig.lastError = 0; lineFwConfig.lastError = 0;
lineFwConfig.integral = 0; lineFwConfig.integral = 0;
#else #else
@ -672,11 +672,11 @@ void PID_Init(void) {
posLeftConfig.iAntiWindup = 200; posLeftConfig.iAntiWindup = 200;
posLeftConfig.maxSpeedPercent = 40; posLeftConfig.maxSpeedPercent = 40;
#elif (PL_CONFIG_APP_LINE_FOLLOWING || PL_CONFIG_APP_LINE_MAZE) /* line/maze, high speed */ #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.iFactor100 = 2;
posLeftConfig.dFactor100 = 50; posLeftConfig.dFactor100 = 50;
posLeftConfig.iAntiWindup = 200; posLeftConfig.iAntiWindup = 200;
posLeftConfig.maxSpeedPercent = 40; posLeftConfig.maxSpeedPercent = 35;//40;
#else /* defaults */ #else /* defaults */
posLeftConfig.pFactor100 = 1000; posLeftConfig.pFactor100 = 1000;
posLeftConfig.iFactor100 = 1; posLeftConfig.iFactor100 = 1;

6
ADIS_Sumo/Sumo/Turn.c
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@ -63,11 +63,11 @@
#define TURN_STEPS_POST_LINE_TIMEOUT_MS 500 #define TURN_STEPS_POST_LINE_TIMEOUT_MS 500
#define TURN_STEPS_STOP_TIMEOUT_MS 150 #define TURN_STEPS_STOP_TIMEOUT_MS 150
#elif PL_IS_INTRO_ZUMO_K22 /* no LiPo */ #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 */ /*!< 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 */ /*!< 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 */ /*!< number of steps after the line, before making a turn */
#define TURN_STEPS_90_TIMEOUT_MS 1000 #define TURN_STEPS_90_TIMEOUT_MS 1000
#define TURN_STEPS_LINE_TIMEOUT_MS 200 #define TURN_STEPS_LINE_TIMEOUT_MS 200

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