From 1aa6b1706519b3f54de9bd2d7954109e8c650d8a Mon Sep 17 00:00:00 2001 From: Eggert Jung Date: Wed, 6 Apr 2022 00:22:31 +0200 Subject: [PATCH] faster moving speed --- pid_controller.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/pid_controller.h b/pid_controller.h index 56bf0f2..25118b9 100644 --- a/pid_controller.h +++ b/pid_controller.h @@ -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);