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faster moving speed

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Eggert Jung 4 years ago
parent 1a8b4418a6
commit 1aa6b17065
1 changed files with 2 additions and 2 deletions
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pid_controller.h
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@ -25,8 +25,8 @@ typedef struct {
} PID_vars;
#define PID_VARS_INIT(x) PID_vars x = {.Kp=1.0,.Ki=0.00,.Kd=0.1,.output_max=15000.0, \
.output_min=-15000.0,._integral_sum=0.0,._prev_err=0.0,._dt=1.0}
#define PID_VARS_INIT(x) PID_vars x = {.Kp=1.3,.Ki=0.00,.Kd=0.0,.output_max=20000.0, \
.output_min=-20000.0,._integral_sum=0.0,._prev_err=0.0,._dt=1.0}
/* Function Prototypes */
double pid(PID_vars *vars, double current_err);