less aggressive pid

3 years ago · 3f662045e6
parent 18d2ae2f3c
commit 3f662045e6
1 changed files with 1 additions and 1 deletions
--- a/pid_controller.h
+++ b/pid_controller.h
@ -25,7 +25,7 @@ typedef struct {
 } PID_vars;


-#define PID_VARS_INIT(x) PID_vars x = {.Kp=1.7,.Ki=0.00,.Kd=0.00,.output_max=25000.0, \
+#define PID_VARS_INIT(x) PID_vars x = {.Kp=1.3,.Ki=0.00,.Kd=0.00,.output_max=25000.0, \
                       .output_min=-25000.0,._integral_sum=0.0,._prev_err=0.0,._dt=1.0}

 /* Function Prototypes */